Local joint information based active fault tolerant control for reconfigurable manipulator
文献类型：期刊论文
| 作者 | Zhao B(赵博)
|
| 刊名 | Nonlinear Dynamics
 |
| 出版日期 | 2014-03 |
| 卷号 | 77期号:3页码:859-876 |
| 关键词 | Reconfigurable Manipulators Local Joint Information Fault Detection And Identification Active Fault Tolerant Control Nonlinear Velocity Observer Radial Basis Function Neural Network |
| 英文摘要 | In this study, a novel online fault compensation control scheme based on policy iteration (PI) algorithm is developed for a class of affine non-linear systems with actuator failures. The control scheme consists of a PI algorithm and a fault compensator. For fault-free dynamic models, the PI algorithm is developed to solve the Hamilton–Jacobi–Bellman equation by constructing a critic neural network, and then the approximate optimal control policy can be derived directly. Alternatively, the actuator failure is reconstructed adaptively to achieve online fault compensation without the fault detection and isolation mechanism. The closed-loop system is proved to be asymptotically stable via Lyapunov's direct method. Two numerical simulation examples are given to demonstrate the effectiveness of the proposed fault compensation control scheme. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/22098]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_智能化团队 |
| 推荐引用方式 GB/T 7714 | Zhao B. Local joint information based active fault tolerant control for reconfigurable manipulator[J]. Nonlinear Dynamics,2014,77(3):859-876. |
| APA | Zhao B.(2014).Local joint information based active fault tolerant control for reconfigurable manipulator.Nonlinear Dynamics,77(3),859-876. |
| MLA | Zhao B."Local joint information based active fault tolerant control for reconfigurable manipulator".Nonlinear Dynamics 77.3(2014):859-876. |
入库方式： OAI收割
来源：自动化研究所
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