考虑输入饱和和状态受限的九索并联机构自适应容错控制

针对一种用于月面起飞模拟的九索驱动并联机构，在考虑输入饱和和状态受限的情况下，采用基于反步法的自适应容错控制方法（Adaptive fault tolerant control，AFTC）设计九索并联机构控制器，提升索并联机构在驱动系统故障状态下的运行性能。控制器设计过程中，以乘性误差和加性误差的形式描述驱动系统故障对控制信号的影响，设计带有指令滤波器的辅助系统确保控制信号满足输入饱和条件，采用正切型界限李雅普诺夫方程（Tan-type barrier Lyapunov function，tan-type BLF）设计控制器确保动平台状态满足限制条件。仿真试验表明，基于AFTC方法设计的控制器可以有效辨识控制信号中的乘性误差和加性误差，在考虑输入饱和和状态受限的情况下，位置误差和姿态误差均可以被控制在一定范围内，同时保证控制过程中，九索并联机构索力连续变化且满足索力限制条件。

Adaptive Fault Tolerant Control for a Parallel Mechanism Driven by Nine Cables with Input Saturation and Full-state Constrains

A novel adaptive fault tolerant control (AFTC) scheme, which is based on backstepping method, is used for the position and attitude tracking of a parallel mechanism driven by nine cables with both multiplicative and additive actuator faults.Both input saturation and full-state constrains are considered. A novel tan-type barrier Lyapunov functions (BLF) is taken to handle the full-state constrains. An auxiliary system is designed to analyze the effect of the input saturation. Simulation confirms that the estimation error of unknown actuator faults are bounded and the position and attitude tracking errors will converge to a neighborhood of zero. Meanwhile, the required full-state constrains and the constrains of cable force will not be violated during operation.