基于故障在线估计的可重构机械臂分散容错控制

被引：5

作者：

赵博 ^{[1
,2
]}

李成浩 ^{[3
,2
]}

李元春 ^{[1
,2
]}

机构：

[1] 长春工业大学电气与电子工程学院

[2] 吉林大学通信工程学院

[3] 一汽轿车股份有限公司产品部

来源：

吉林大学学报(工学版) | 2014年 / 06期

关键词：

自动控制技术; 可重构机械臂; 故障在线估计; 分散滑模观测器; 容错控制;

D O I：

10.13229/j.cnki.jdxbgxb201406030

中图分类号：

TP241 [机械手];

学科分类号：

080202 ; 1405 ;

摘要：

为了降低可重构机械臂模块关节执行器和传感器故障对其控制性能的影响,提出了一种基于故障在线估计的分散容错控制方法。基于可重构机械臂的模块化属性和Lyapunov稳定性理论,设计了分散自适应滑模观测器以实现执行器和传感器故障的在线自适应估计。同时采用神经网络对子系统非线性项进行逼近和补偿,并结合非奇异快速Terminal滑模思想实现了分散容错控制。最后,采用两种不同构形的三自由度可重构机械臂进行了仿真试验,结果表明,所设计的容错控制方法是有效的。

引用

页码：1729 / 1735

页数：7

共 10 条

[1] 可重构机械臂模糊神经补偿控制 [J].

李英 ;

朱明超 ;

李元春 .

吉林大学学报(工学版), 2007, (01) :206-211

[2]

Multisensor Fault Identification Scheme Based on Decentralized Sliding Mode Observers Applied to Reconfigurable Manipulators[J] . Bo Zhao,Yuanchun Li,Tsung-Chih Lin.Mathematical Problems in Engineering . 2013

[3]

Wavelets for fault diagnosis of rotary machines: A review with applications[J] . Ruqiang Yan,Robert X. Gao,Xuefeng Chen.Signal Processing . 2013

[4] A data-based framework for fault detection and diagnostics of non-linear systems with partial state measurement [J].

Subrahmanya, Niranjan ;

Shin, Yung C. .

ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE, 2013, 26 (01) :446-455

[5]

A knowledge-based system approach for sensor fault modeling, detection and mitigation[J] . Jonny Carlos da Silva,Abhinav Saxena,Edward Balaban,Kai Goebel.Expert Systems With Applications . 2012 (12)

[6] On-line adaptive clustering for process monitoring and fault detection [J].

Petkovic, Milena ;

Rapaic, Milan R. ;

Jelicic, Zoran D. ;

Pisano, Alessandro .

EXPERT SYSTEMS WITH APPLICATIONS, 2012, 39 (11) :10226-10235

[7]

Decentralized fault diagnosis using multiblock kernel independent component analysis[J] . Yingwei Zhang,Chi Ma.Chemical Engineering Research and Design . 2011 (5)

[8] Fault diagnosis of sensor by chaos particle swarm optimization algorithm and support vector machine [J].

Zhao Chenglin ;

Sun Xuebin ;

Sun Songlin ;

Jiang Ting .

EXPERT SYSTEMS WITH APPLICATIONS, 2011, 38 (08) :9908-9912

[9] Decentralized adaptive fuzzy sliding, mode control for reconfigurable modular manipulators [J].

Zhu, Mingchao ;

Li, Yuanchun .

INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2010, 20 (04) :472-488

[10] A rapidly deployable manipulator system [J].

Paredis, CJJ ;

Brown, HB ;

Khosla, PK .

ROBOTICS AND AUTONOMOUS SYSTEMS, 1997, 21 (03) :289-304

← 1 →