执行器故障下移动机器人轨迹跟踪的分数阶SMC控制器

IF 3.2 Q2 AUTOMATION & CONTROL SYSTEMS
Minghuang Qin, S. Dian, Bin Guo, Xu Tao, Tao Zhao
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引用次数: 8

摘要

针对两轮差分驱动移动机器人的执行器容错轨迹跟踪问题,提出了一种结合故障观测器的超扭曲分数阶滑模容错控制方法。该方法不仅保证了机器人在正常情况下的姿态跟踪,而且保证了故障发生时的跟踪性能。该方法主要包括:利用提高暂态响应的分数阶滑模面设计容错控制器,并采用超扭曲到达算法来减少抖振;设计了故障观测器来估计故障值,通过实时补偿来保证系统的稳定性和安全性。最后,通过数值模拟验证了所提出的容错控制方法。结果表明,本文提出的方法可以有效地减少执行器故障的影响,保证轨迹跟踪性能。与普通滑模控制器相比,该控制策略的优点在于,与整数阶滑模控制器(IOSMC)相比,本文设计的分数阶滑模控制器更快地将所有误差状态收敛到零,并且跟踪误差抖振更小。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Fractional-order SMC controller for mobile robot trajectory tracking under actuator fault
In this paper, aiming at the actuator fault-tolerant trajectory tracking problem of two-wheeled differential-driven mobile robots, a super-twisting fractional-order sliding mode fault-tolerant control method combined with a fault observer is proposed. The method not only ensures the pose tracking of the robot in normal condition but also guarantees the tracking performance while the fault occurs. The proposed method mainly includes: A fractional-order sliding mode surface which improves the transient response is utilized to design the fault-tolerant controller, and the super twisting reaching algorithm is adopted to reduce the chattering; A fault observer is designed to estimate the fault value, ensures system stability and safety through real-time compensation. Finally, the proposed fault-tolerant control method is verified by numerical simulation. The results show that the method proposed in this paper can effectively reduce the impact of actuator fault and ensure trajectory tracking performance. And the advantage of the control strategy over the general sliding mode controller is that compared with the integer-order sliding mode control (IOSMC), the fractional-order sliding mode control (FOSMC) we designed in this paper converges all the error states to zero faster, and the tracking error chattering is smaller.
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来源期刊
Systems Science & Control Engineering
Systems Science & Control Engineering AUTOMATION & CONTROL SYSTEMS-
CiteScore
9.50
自引率
2.40%
发文量
70
审稿时长
29 weeks
期刊介绍: Systems Science & Control Engineering is a world-leading fully open access journal covering all areas of theoretical and applied systems science and control engineering. The journal encourages the submission of original articles, reviews and short communications in areas including, but not limited to: · artificial intelligence · complex systems · complex networks · control theory · control applications · cybernetics · dynamical systems theory · operations research · systems biology · systems dynamics · systems ecology · systems engineering · systems psychology · systems theory
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