考虑时变输出受限的机械臂自适应容错控制  

Adaptive Fault-tolerant Control of Manipulator Considering Time-varying Output Constraints

作　　者：朱一平 刘加朋 于金鹏[1] 于海生[1] ZHU Yi-ping;LIU Jia-peng;YU Jin-peng;YU Hai-sheng(School of Automation,Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学自动化学院,山东青岛266071

出　　处：《控制工程》2023年第4期673-679,共7页Control Engineering of China

基　　金：国家重点研发计划资助项目(2017YFB1303503);国家自然科学基金资助项目(61973179);泰山学者工程专项经费资助项目(TSQN20161026);青岛市重点研发专项资助项目(21-1-2-6-nsh)。

摘　　要：针对机械臂执行器失效故障,提出了一种基于障碍李雅普诺夫函数的有限时间模糊自适应容错控制方法。该控制方法引入自适应技术用于估计执行器的失效程度,补偿执行器故障带来的损失,保证了控制器的控制效果,并采用模糊逻辑系统使得控制律中无须模型参数,从而增加了控制系统的适用性。该控制方法能够保证闭环系统的所有信号和状态是有限时间有界,关节位置的跟踪误差收敛到原点的一个小邻域内,在机械臂运行过程中不违反时变约束要求。最后,将所提控制方法应用于二自由度刚性机械臂,仿真结果验证了所提控制方法的有效性。A barrier Lyapunov function-based finite-time fuzzy adaptive fault-tolerant control method for the failure of manipulator actuator is proposed.In this control method,adaptive technology is introduced to estimate the failure degree of the actuator,compensate the loss caused by the actuator failure,ensure the control effect of the controller.The fuzzy logic system that makes the control law without model information is adopted,thus increasing the applicability of the control system.The proposed control method can ensure that all the signals and states of the closed-loop system are finite-time bounded,and the tracking errors of joint position converge to a small neighborhood of the origin and do not violate the requirements of time-varying constraints.Finally,a two-degree-of-freedom rigid manipulator is used for simulation,and the simulation results verify the effectiveness of the proposed control method.

关 键 词：模糊自适应控制 容错控制 有限时间控制 机械臂 时变输出受限 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]