可重构模块机器人分散容错控制  

Decentralized fault tolerant control for reconfigurable modular robots

作　　者：朱明超[1] 李元春[1] 姜日花[2] 

机构地区：[1]吉林大学通信工程学院,长春130033 [2]吉林大学中日联谊医院,长春130033

出　　处：《控制与决策》2009年第8期1247-1251,1256,共6页Control and Decision

基　　金：国家自然科学基金项目(60674091)

摘　　要：针对可重构模块机器人的执行器故障,提出一种基于自适应模糊系统的分散被动容错控制方法.该方法不需要机器人动力学模型与模块之间的信息交换,模块控制器分别采用间接和直接自适应方法设计,自适应参数的更新律基于Lyapunov稳定性理论设计,保证了系统的稳定性和H∞跟踪性能.数值仿真结果表明了所提出方法的有效性.A passive decentralized fault tolerant control scheme is proposed for tolerating actuator degradation at each joint module. The fault tolerance is achieved at each joint module without requiring sub-dynamics or information about the other modules. Both indirect and direct adaptive controllers are designed for each joint module. All adaptive algorithms in the subsystem controller are derived from the sense of Lyapunov stability analysis, so that resulting closed-loop system is stable and the H∞ tracking performance is guaranteed. The simulation results show the effectiveness of the proposed scheme.

关 键 词：分散控制 容错控制 模糊控制 自适应控制 模块机器人 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]