具有未知迟滞和执行器间歇故障的柔性机械臂自适应控制

IF 15.3 1区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Ieee-Caa Journal of Automatica Sinica Pub Date : 2025-01-21 DOI:10.1109/JAS.2024.124653

Shouyan Chen;Weitian He;Zhijia Zhao;Yun Feng;Zhijie Liu;Keum-Shik Hong

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引用次数: 0

摘要

在本研究中，我们考虑了存在未知的Bouc-Wen型滞后和执行器间歇性故障的单连杆柔性机械手。首先，引入逆滞回动力学模型，然后将控制输入分为期望输入和误差补偿器。其次，提出了一种新的基于自适应神经网络的控制方案来消除未知输入滞后。随后，通过修改自适应律和局部控制律，采用容错控制策略解决柔性机械臂系统的不确定执行机构间歇故障。通过直接Lyapunov理论，提出的方案允许状态误差渐近收敛到一个指定的区间。最后，通过数值模拟和实验验证了该方案的有效性。

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Adaptive Control of a Flexible Manipulator with Unknown Hysteresis and Intermittent Actuator Faults

In this study, we consider a single-link flexible manipulator in the presence of an unknown Bouc-Wen type of hysteresis and intermittent actuator faults. First, an inverse hysteresis dynamics model is introduced, and then the control input is divided into an expected input and an error compensator. Second, a novel adaptive neural network-based control scheme is proposed to cancel the unknown input hysteresis. Subsequently, by modifying the adaptive laws and local control laws, a fault-tolerant control strategy is applied to address uncertain intermittent actuator faults in a flexible manipulator system. Through the direct Lyapunov theory, the proposed scheme allows the state errors to asymptotically converge to a specified interval. Finally, the effectiveness of the proposed scheme is verified through numerical simulations and experiments.

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来源期刊

Ieee-Caa Journal of Automatica Sinica Engineering-Control and Systems Engineering

CiteScore

23.50

自引率

11.00%

发文量

880

期刊介绍： The IEEE/CAA Journal of Automatica Sinica is a reputable journal that publishes high-quality papers in English on original theoretical/experimental research and development in the field of automation. The journal covers a wide range of topics including automatic control, artificial intelligence and intelligent control, systems theory and engineering, pattern recognition and intelligent systems, automation engineering and applications, information processing and information systems, network-based automation, robotics, sensing and measurement, and navigation, guidance, and control. Additionally, the journal is abstracted/indexed in several prominent databases including SCIE (Science Citation Index Expanded), EI (Engineering Index), Inspec, Scopus, SCImago, DBLP, CNKI (China National Knowledge Infrastructure), CSCD (Chinese Science Citation Database), and IEEE Xplore.