一种区间2型模糊自适应容错控制方法  

Type-2 fuzzy fault-tolerant control method

作　　者：范永青 张延龙 FAN Yongqing;ZHANG Yanlong(School of Automation,Xi’an University of Posts and Telecommunications,Xi’an 710121,China)

机构地区：[1]西安邮电大学自动化学院,陕西西安710121

出　　处：《西安邮电大学学报》2024年第6期106-115,共10页Journal of Xi’an University of Posts and Telecommunications

基　　金：陕西省自然科学基金项目(2022JM-389)。

摘　　要：针对协作机械臂系统模型中存在的故障、干扰及轨迹跟踪误差较大的问题,提出一种区间2型(Interval Type-2,IT2)模糊自适应容错控制方法。采用IT2模糊逻辑系统(IT2-Fuzzy Logic System,IT2-FLS)补偿系统中存在的不确定非线性项,为了提高IT2-FLS的逼近精度,在系统中引入一个非零时变参数。通过干扰观测器估计系统中的未知外界干扰,并将干扰观测器集成到IT2模糊自适应控制中。利用障碍Lyapunov函数(Barrier Lyapunov Function,BLF)的稳定性和反推设计方法,设计可以在线调节逼近精度的自适应律,减少传统控制器方法中的自适应律的个数,进而减少控制器的计算负担。仿真结果表明,所提方法可以保证系统的跟踪性能,且所有闭环系统中的状态都可以达到全局一致最终有界(Uniformly Ultimately Bounded,UUB)。To address the problems of faults,disturbances,and large trajectory tracking errors in the collaborative robot arm system model,an interval type-2(IT2)fuzzy adaptive fault-tolerant control method is proposed.An IT2 fuzzy logic system(FLS)is used to compensate for the uncertain nonlinear terms in the system.In order to improve the approximation accuracy of IT2-FLS,a nonzero time-varying parameter is introduced into the system.An interference observer is used to estimate the unknown external disturbances in the system,and the interference observer is integrated into the IT2 fuzzy adaptive control.Using the stability and backstepping design method of barrier Lyapunov function(BLF),an adaptive law that can adjust the approximation accuracy online is designed,reducing the number of adaptive laws in traditional controller methods and thus reducing the computational burden of the controller.Simulation results show that the proposed method can guarantee the tracking performance of the system,and all states in all closed-loop systems can achieve uniformly ultimately bounded(UUB).

关 键 词：多机械臂 模糊逻辑系统 容错控制 干扰观测器 自适应控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]