ONLINE MODEL AND ACTUATOR FAULT TOLERANT CONTROL FOR AUTONOMOUS MOBILE ROBOT
文献类型：期刊论文
| 作者 | Song Q(宋崎); Jiang Z(姜哲); Han JD(韩建达)
|
| 刊名 | Chinese Journal of Mechanical Engineering
 |
| 出版日期 | 2007 |
| 卷号 | 20期号:3页码:29-33 |
| 关键词 | Unscented Kalman filter Active model Fault tolerance Inverse dynamic control |
| ISSN号 | 1000-9345 |
| 产权排序 | 1 |
| 中文摘要 | A novel fault-tolerant adaptive control methodology against the actuator faults is proposed. The actuator effectiveness factors (AEFs) are introduced to denote the healthy of actuator, and the unscented Kalman filter (UKF) is employed for online estimation of both the motion states and the AEFs of mobile robot. A square root version of the UKF is introduced to improve efficiency and numerical stability. Using the information from the UKF, the reconfigurable controller is designed automatically based on an enhancement inverse dynamic control (IDC) methodology. The experiment on a 3-DOF omni-directional mobile robot is performed, and the effectiveness of the proposed method is demonstrated. |
| 收录类别 | EI ; CSCD |
| 资助信息 | This project is supported by National Hi-tech Research and Development Program of China (863 Program, No. 2003AA421020). |
| 语种 | 英语 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7386]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Song Q,Jiang Z,Han JD. ONLINE MODEL AND ACTUATOR FAULT TOLERANT CONTROL FOR AUTONOMOUS MOBILE ROBOT[J]. Chinese Journal of Mechanical Engineering,2007,20(3):29-33. |
| APA | Song Q,Jiang Z,&Han JD.(2007).ONLINE MODEL AND ACTUATOR FAULT TOLERANT CONTROL FOR AUTONOMOUS MOBILE ROBOT.Chinese Journal of Mechanical Engineering,20(3),29-33. |
| MLA | Song Q,et al."ONLINE MODEL AND ACTUATOR FAULT TOLERANT CONTROL FOR AUTONOMOUS MOBILE ROBOT".Chinese Journal of Mechanical Engineering 20.3(2007):29-33. |
入库方式： OAI收割
来源：沈阳自动化研究所
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