论文摘要
Since the joint actuator of the space robot executes the control instructions frequently in the harsh space environment,it is prone to the partial loss of control effectiveness（PLCE） fault.An adaptive fault-tolerant control algorithm is designed for a space robot system with the uncertain parameters and the PLCE actuator faults.The mathematical model of the system is established based on the Lagrange method,and the PLCE actuator fault is described as an effectiveness factor.The lower bound of the effectiveness factors and the upper bound of the uncertain parameters are estimated by an adaptive strategy,and the estimated value is fed back to the control algorithm.Compared with the traditional fault-tolerant algorithms,the proposed algorithm does not need to predetermine the lower bound of the effectiveness factor,hence it is more in line with the actual engineering application.It is proved that the algorithm can guarantee the stability of the closed-loop system based on the Lyapunov function method.The numerical simulation results show that the proposed algorithm can not only compensate for the uncertain parameters,but also can tolerate the PLCE actuator faults effectively,which verifies the effectiveness and superiority of the control scheme.
论文目录
文章来源
类型: 期刊论文
作者: Rong-Hua Lei,Li Chen
来源: Defence Technology 2019年06期
年度: 2019
分类: 工程科技Ⅱ辑
专业: 航空航天科学与工程
单位: School of Mechanical Engineering and Automation,Fuzhou University
基金: supported by the National Natural Science Foundation of China(11372073,11072061)
分类号: V467
页码: 964-971
总页数: 8
文件大小: 1188K
下载量: 3