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Self-adaptive fault-tolerant preset performance control method for multiple-input-multiple-output mechanical system

A mechanical system and preset performance technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as collision, task failure, instability, etc.

Active Publication Date: 2020-08-28
JIANGSU VOCATIONAL INST OF ARCHITECTURAL TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

If the nonlinear mechanical system violates the above constraints during work, serious consequences such as collisions, instability, and even mission failure may occur; in addition to state constraints, nonlinear mechanical systems often suffer from inaccurate actuator output and inefficiency. Reduce or even failure of some actuators

Method used

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  • Self-adaptive fault-tolerant preset performance control method for multiple-input-multiple-output mechanical system
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  • Self-adaptive fault-tolerant preset performance control method for multiple-input-multiple-output mechanical system

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Embodiment

[0138] The present invention uses the second-order nonlinear mechanical system, that is, the two-link manipulator system as the implementation object, and the dynamic parameters are: m 1 =0.5kg, m 2 = 1.5kg, l 1 = 1.0m, l 2 =0.8m, gravitational acceleration g=9.8m / s 2 . The initial value of the joint angle of the second-order manipulator system is set to p(0)=[p 1 (0),p 2 (0)] T =[2,-2] T rad, the initial value of the joint angular velocity of the manipulator system is set to

[0139] Preset performance function α i The relevant parameters of (t) are set as: α i,0 = 4, α i,∞ = 0.1, γ i =0.3;

[0140] The control parameters of the adaptive fault-tolerant preset performance controller are set as: K 1 =diag(0.1,0.1), K 2 =diag(100,100), the initial value and parameter setting of adaptive law are: σ 0 = 0.001;

[0141] Actuator presence faults are set to:

[0142]

[0143] In stable control, the expected tracking trajectory is:

[0144] p d (t)=[p d,1 (...

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Abstract

The invention discloses a self-adaptive fault-tolerant preset performance control method for a multiple-input-multiple-output mechanical system. The method comprises the following steps: step 1, establishing a multiple-input-multiple-output mechanical system model with an actuator fault; step 2, designing a virtual controller based on an obstacle Lyapunov function; step 3, designing a self-adaptive fault-tolerant controller and designing a self-adaptive law; and step 4, estimating the micro-component of a virtual controller based on a differential tracker. According to the control method, thefault-tolerant controller can adaptively and actively identify and compensate the influence caused by the actuator fault, so that the stability of the system when the fault occurs is ensured; and thebounded property of the obstacle Lyapunov function is utilized to actively constrain the system tracking error, so that the preset performance index can be safely, accurately and efficiently completedunder the condition that the system tracking error has a fault.

Description

technical field [0001] The invention relates to a multi-input multi-output mechanical system adaptive fault-tolerant preset performance control method, which belongs to the technical field of mechanical system adaptive control. Background technique [0002] Most of the multi-input and multi-output mechanical systems in engineering can be modeled as Euler-Lagrange (Euler-Lagrange) nonlinear systems, such as robot systems, spacecraft attitude control systems, energy transmission systems, and helicopter control systems Wait. Therefore, many scholars have carried out dynamic analysis and robust controller design for Euler-Lagrangian nonlinear mechanical systems. For multi-input multi-output Euler-Lagrangian nonlinear mechanical systems, some effective control methods have been proposed, such as sliding mode control method, optimal control method, control method and so on. [0003] Although the existing control methods have been proved to be able to guarantee the stability of n...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张刚刘志坚侯文宝沈永跃吴玮李德路
Owner JIANGSU VOCATIONAL INST OF ARCHITECTURAL TECH
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