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Sliding mode control based on RBF neural network for a class of underactuated systems with unknown sensor and actuator faults

文献类型：期刊论文

作者Ji, Ning1; Liu, Jinkun1; Yang, Hongjun2
刊名INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
出版日期2020-09-10
页码11
关键词Underactuated system sliding mode control actuator fault tolerance sensor fault tolerance coupled motor driving system
ISSN号0020-7721
DOI10.1080/00207721.2020.1817615
通讯作者Liu, Jinkun(ljk@buaa.edu.cn)
英文摘要A sliding mode control method is developed in this study for application to a class of underactuated systems with bounded unknown disturbance and sensor and actuator faults. In the proposed method, a robustness item compensates for the bounded unknown disturbance and a Nussbaum function realises sensor and actuator faults tolerance simultaneously, and all signals of the system are proven to be bounded. A radial basis function (RBF) neural network is developed to estimate the unknown functions of the system. Finally, Hurwitz stability analysis is conducted to guarantee the stability of the closed-loop system. Simulations are conducted wherein a coupled motor driving system is placed under the proposed control laws to validate this approach.
WOS关键词NONLINEAR-SYSTEMS ; TRACKING CONTROL ; CONTROL STRATEGY ; DESIGN
资助项目National Natural Science Foundation of China[61873296] ; Academic Excellence Foundation of BUAA ; CAS Prospective Deployment Project[ZDRW-KT2019-1-010402]
WOS研究方向Automation & Control Systems ; Computer Science ; Operations Research & Management Science
语种英语
WOS记录号WOS:000567974700001
出版者TAYLOR & FRANCIS LTD
资助机构National Natural Science Foundation of China ; Academic Excellence Foundation of BUAA ; CAS Prospective Deployment Project
源URL[http://ir.ia.ac.cn/handle/173211/41934]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者Liu, Jinkun
作者单位1.Beihang Univ, Sch Automat Sci & Elect Engn, Beijing, Peoples R China
2.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing, Peoples R China
推荐引用方式
GB/T 7714		 Ji, Ning,Liu, Jinkun,Yang, Hongjun. Sliding mode control based on RBF neural network for a class of underactuated systems with unknown sensor and actuator faults[J]. INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE,2020:11.
APA Ji, Ning,Liu, Jinkun,&Yang, Hongjun.(2020).Sliding mode control based on RBF neural network for a class of underactuated systems with unknown sensor and actuator faults.INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE,11.
MLA Ji, Ning,et al."Sliding mode control based on RBF neural network for a class of underactuated systems with unknown sensor and actuator faults".INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE (2020):11.

入库方式： OAI收割

来源：自动化研究所

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