吉林大学学报(工学版) ›› 2015, Vol. 45 ›› Issue (6): 1874-1880.doi: 10.13229/j.cnki.jdxbgxb201506022

• • 上一篇    下一篇

基于多步时延的可重构机械臂并发故障分散容错控制

李元春1, 周帆1, 马天豪1, 赵博1,2   

  1. 1.长春工业大学 电气与电子工程学院,长春 130012;
    2.中国科学院自动化研究所 复杂系统管理与控制国家重点实验室,北京 100190
  • 收稿日期:2014-04-16 出版日期:2015-11-01 发布日期:2015-11-01
  • 通讯作者: 赵博(1987-),男,在站博士后.研究方向:可重构机器人故障诊断与容错控制.E-mail:zhaob09@mails.jlu.edu.cn
  • 作者简介:李元春(1962-),男,教授,博士生导师.研究方向:智能机械与机器人控制.E-mail:liyc@mail.ccut.edu.cn
  • 基金资助:
    国家自然科学基金项目(61374051,60974010); 吉林省科技发展计划项目(20150520112JH)

Decentralized fault-tolerant control based on multi-step time delay for reconfigurable manipulator with concurrent failures

LI Yuan-chun1, ZHOU Fan1, MA Tian-hao1, ZHAO Bo1,2   

  1. 1.College of Electrical and Electronic Engineering, Changchun University of Technology, Changchun, 130012, China;
    2.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
  • Received:2014-04-16 Online:2015-11-01 Published:2015-11-01

摘要: 基于Lyapunov稳定性理论和可重构机械臂的模块化属性,针对非故障系统设计了分散反演神经网络控制器,并采用自适应神经网络系统补偿子系统关联项对系统控制精度的影响。通过引入一阶滤波器将传感器故障转化成伪执行器故障,从而得到增广故障子系统模型,进而采用多步时延技术补偿并发故障,实现容错。两种不同构形的2-DOF可重构机械臂系统的仿真结果表明了所设计分散容错控制方法的有效性。

关键词: 自动控制技术, 可重构机械臂, 分散容错控制, 多步时延, 并发故障

Abstract: According to Lyapunov stable theory and the modularity of reconfigurable manipulator, a decentralized backstepping neural network controller is designed for the fault free system, and the adaptive neural network system is employed to compensate the reduced control accuracy from the interconnection term. An augmented subsystem is obtained by introducing a filter, which maps the sensor fault into pseudo actuator fault, and then the multi-step time-delay technique is adopted to compensate the concurrent failures and realize the fault-tolerant. Simulations illustrated by two 2-DOF reconfigurable manipulators with different configurations demonstrate the effectiveness of the proposed scheme.

Key words: automatic control technique, reconfigurable manipulator, decentralized fault-tolerant control, multi-step time-delay, concurrent failure

中图分类号: 

  • TP273
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