基于神经网络的双连杆柔性机械臂事件触发故障检测研究  

Research on Event-triggered Fault Detection of Double Link Flexible Manipulator Based on Neural Network

作　　者：黄明滔 张志慧 HUANG Ming-tao;ZHANG Zhi-hui(Shenyang University of Technology,School of Artificial Intelligence,Shenyang 110870,China)

机构地区：[1]沈阳工业大学人工智能学院,辽宁沈阳110870

出　　处：《电脑知识与技术》2021年第26期88-90,共3页Computer Knowledge and Technology

摘　　要：本文针对具有未知函数、未建模动态和扰动的双连杆柔性机械臂系统,提出了一种基于神经网络的事件触发故障检测策略。在神经网络近似和事件触发机制的框架下,提出了一种故障检测观测器。该方案在保证故障检测性能的同时,降低了网络通信负担。最后通过仿真实验,验证了该方法的有效性。In this paper,an event-triggered fault detection strategy based on neural network is proposed for nonlinear double link flexible manipulator systems with unknown functions,unmodeled dynamics and disturbances.Based on the framework of neural network approximation and event triggering mechanism,a fault detection observer is proposed.This scheme can ensure the perfor⁃mance of fault detection and reduce the burden of network communication.Finally,the effectiveness of the proposed method is veri⁃fied by simulation.

关 键 词：故障检测 事件触发机制 神经网络 双连杆柔性机械臂 

分 类 号：TP302[自动化与计算机技术—计算机系统结构]