共查询到19条相似文献,搜索用时 82 毫秒
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基于信号重构的可重构机械臂主动分散容错控制 总被引:1,自引:0,他引:1
针对可重构机械臂系统传感器故障,提出一种基于信号重构的主动分散容错控制方法. 基于可重构机械臂系统模块化属性,采用自适应模糊分散控制系统实现正常工作模式时模块关节的轨迹跟踪控制. 当在线检测出位置或速度传感器故障时,分别采用数值积分器或微分跟踪器重构相应信号,并以之代替故障信号进行反馈实现系统的主动容错控制. 此方法充分利用了冗余信息,避免了故障关节控制性能的下降对其他关节的影响. 数值仿真结果验证了所提出容错控制方法的有效性. 相似文献
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一种可重构机械臂的自组织协调控制 总被引:1,自引:0,他引:1
主要研究一种新的具有树型结构的可重构机械臂的自组织协调控制问题,首先给出这种可重构机械臂的运动学、动力学方程及其结构变化的关系;然后通过研究一个较通用的任务模型建立了系统的动力学方程,由此提出一个自组织协调控制策略,最后仿真结果证明了控制规律是有效的。 相似文献
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讨论了载体位置不受控制的情况下,漂浮基三杆空间机械臂系统的滑模容错控制问题.选择合适的坐标系,利用拉格朗日第二动力学方程,结合系统质心定义,根据系统动量守恒原理,建立漂浮基三杆空间机械臂系统的动力学方程.依据非奇异滑模控制和积分滑模控制理论提出切换函数,基于反演的控制策略,结合高阶滑模控制理论,提出了一个新型的控制率,... 相似文献
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当非线性系统遇到故障时,需要对控制律进行重新调度和重组.根据这一特点,将非线性自适应观测器和虚拟传感器重组方法相结合,研究了一类非线性系统的重组.同时,针对传感器故障,将线性系统虚拟传感器重组方法推广到非线性系统,并通过设计合适的自适应观测器,保证了重组后的系统仍然等价于原系统.数字仿真证明了该方法的有效性,重组后的系统输出可以很好地跟踪正常工作系统的输出. 相似文献
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A stable decentralized adaptive fuzzy sliding mode control scheme is proposed for reconfigurable modular manipulators to satisfy the concept of modular software. For the development of the decentralized control, the dynamics of reconfigurable modular manipulators is represented as a set of interconnected subsystems. A first‐order Takagi–Sugeno fuzzy logic system is introduced to approximate the unknown dynamics of subsystem by using adaptive algorithm. The effect of interconnection term and fuzzy approximation error is removed by employing an adaptive sliding mode controller. 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 trajectory tracking performance is guaranteed. The simulation results are presented to show the effectiveness of the proposed decentralized control scheme. Copyright © 2009 John Wiley & Sons, Ltd. 相似文献
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Ye Cao 《International journal of control》2020,93(3):377-386
ABSTRACTThis paper investigates the trajectory tracking problem of rigid robot manipulators with unknown dynamics and actuator failures. The goal is to achieve desirable tracking performance with a simple and low-cost control strategy. By introducing a new form of parameter estimation error, together with an error transformation, a robust adaptive and fault-tolerant control scheme is developed without the need for fault information nor precise robotic mathematical model. It is shown that, with the proposed control, the tracking error is ensured to converge to an adjustable residual set within prescribed finite time at a user pre-assignable decay rate. The appealing feature of the developed control also lies in its simplicity in structure (i.e. PID form) and effectiveness in dealing with modelling uncertainties as well as actuation faults. 相似文献
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机器人操作器的自适应模糊滑模控制器设计 总被引:1,自引:0,他引:1
针对机器人动力学系统提出了一种基于模糊逻辑的自适应模糊滑模控制方案.根据滑模控制原理并利用模糊系统的逼近能力设计控制器,基于李雅谱诺夫方法设计自适应律,证明了闭环模糊控制系统的稳定性和跟踪误差的收敛性.控制结构简单,不需要复杂的运算.该设计方案柔化了控制信号,减轻了一般滑模控制的抖振现象.仿真结果表明了所提控制策略的有效性. 相似文献
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In this work we introduce a position control scheme which is targeted at the enhancement of the safety of compliant joint robots. In addition to the necessity for accuracy and robustness that both serve as prerequisites for the successful performance of various tasks, the ability to safely handle unexpected events, such as communication failures or unintended interactions which may endanger the robot/human safety, is a paramount requirement. To achieve a smooth motion behaviour of compliant systems under different circumstances, damping control actions are essential. To this end, a novel proxy-based approach for compliant joint robots, integrated into a passivity-guaranteed controller, is proposed. The stability analysis of the proposed scheme is presented and the global asymptotic convergence, as well as the passivity of the control scheme, are analytically proven. The performance of the proposed approach is practically evaluated by means of experiments on a spatial robotic arm with passive compliant actuators, and is compared with that of a classical PD approach. Experimental results validate the ability of the proposed approach to inject damping in order to provide smooth and damped recovery when an interruption in task execution occurs. 相似文献
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针对人机协作过程中机械臂末端与操作者之间可能存在物理碰撞的问题,本文提出一种基于自适应导纳和滑模控制的机械臂安全控制方法.首先,采用基于广义动量的干扰观测器估计机械臂各关节和末端执行器上的干扰力.然后,设计一个双环控制结构,内环是基于干扰观测的双幂次趋近律滑模轨迹跟踪控制器,用以克服外界干扰的影响,达到期望的轨迹跟踪精度;外环是自适应导纳控制器,依据碰撞外力的大小和方向更新期望轨迹,以保证机械臂碰撞发生时的柔顺性和碰撞解除后迅速恢复工作状态的能力.最后,对所提算法进行仿真和实验验证.实验结果表明,协作机械臂碰撞环境下的安全控制算法能保证人机协作的安全性和机械臂工作的连续性,满足人机协作过程中的工作需求. 相似文献
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具有时滞的柔性关节多机械臂协同自适应位置/力控制 总被引:1,自引:0,他引:1
由于关节机械臂长期运行后,齿轮间隙扩大产生的时间滞后将使得系统跟踪性能降低.针对此问题,本文提出了一种自适应位置/力控制策略来保证闭环系统稳定性以及位置/力跟踪性能.首先,对多机械臂和物体系统进行任务空间动力学建模.随后,利用Pade理论将时间滞后近似为二阶有理分式.同时,利用神经网络自适应算法克服模型建模误差对系统稳定性的影响,利用同时包含位置误差和力误差的线性滑模项,设计位置/力控制器.通过李雅普诺夫稳定性理论,证明控制策略能实现位置误差和内力误差的渐近收敛.最后,仿真验证证明所设计控制策略的有效性. 相似文献
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Dongya Zhao 《International journal of systems science》2014,45(3):556-570
In this study, a new position synchronised control algorithm is developed for multiple robotic manipulator systems. In the merit of system synchronisation and integral sliding mode control, the proposed approach can stabilise position tracking of each robotic manipulator while coordinating its motion with the other manipulators. With the integral sliding mode, the proposed approach has insensitiveness against the lumped system uncertainty within the entire process of operation. Further, a perturbation estimator is proposed to reduce chattering effect. The corresponding stability analysis is presented to lay a foundation for theoretical understanding to the underlying issues as well as safely operating real systems. An illustrative example is bench tested to validate the effectiveness of the proposed approach. 相似文献
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针对含有外部扰动和执行器故障的一类航天器姿态控制系统,本文提出基于迭代学习观测器的主动容错控制方案.首先,建立了含有外部扰动和执行器故障的航天器姿态控制系统的运动学和动力学模型.其次,为了提高观测器的故障估计精度,在传统迭代学习观测器设计基础上引入上一时刻状态估计误差信息,文章提出一种改进型学习估计算法.进一步,基于滑模控制和指定时间稳定理论,利用学习观测器的故障估计信息设计指定时间主动容错控制器.与现有的航天器主动容错控制方案相比,本文所提出的算法的优势在于可以使故障系统的姿态能在指定时间跟踪上指令信号.基于Lyapunov方法,本文从理论上证明了改进型学习观测器和姿态容错控制系统的稳定性.最后,通过数值仿真,说明了所提容错控制方案的有效性和可行性. 相似文献
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This paper deals with the robust finite time tracking of desired trajectories for a wide group of robotic manipulators in spite of unknown disturbances, uncertainties, and saturations of actuators while only manipulator's positions are available and its velocities are not measurable physically. A new form of chattering‐free second order fast nonsingular terminal sliding mode control scheme is introduced to design input torques for fulfilling the determined tracking objective in the adjustable total finite settling time. The proposed control algorithm is incorporated with two nonlinear observers to estimate disturbances and velocities of joints within finite settling times. The global finite time stability of the closed‐loop manipulator is analytically proved. Finally, a numerical simulation is carried out to verify the effectiveness of the designed input torques. Copyright © 2017 John Wiley & Sons, Ltd. 相似文献