现代制造工程Issue(5)：82-90,9.DOI:10.16731/j.cnki.1671-3133.2025.05.010
执行器故障下机械臂有限时间容错控制
Finite time fault-tolerant control of manipulator under actuator fault
曹胜杰 1吴海 1程壹涛 1任泽生1
作者信息
- 1. 中国电子科技集团第十三研究所,石家庄 050051
- 折叠
摘要
Abstract
A sliding mode fault-tolerant control strategy based on extended state observer was designed to solve the problem of ac-tuator failure,considering external interference and actuator input saturation.Firstly,the extended state observer was used to esti-mate the complex interference including the fault.The extended state observer is independent of all the state measurements and mathematical models,and can accurately estimate the external interference and the actuator fault.Aiming at the input saturation problem of actuator,a nonlinear anti saturation compensator was designed to compensate the input saturation overflow effect in real time.Then a finite-time controller based on non-singular terminal sliding mode was proposed to realize the precise control of the manipulator system.The convergence time of the sliding mode variable was bounded and independent with the initial state of the system.Based on Lyapunov stability theory,the finite-time stability of closed-loop system was proved.Finally,the superiority of the proposed controller was verified by simulation and comparison with the control method combining the extended state observer and boundary layer technology in the literature.关键词
机械臂系统/执行器故障/扩张状态观测器/滑模控制/有限时间Key words
manipulator system/actuator fault/extended state observer/sliding-mode control/finite time分类
信息技术与安全科学引用本文复制引用
曹胜杰,吴海,程壹涛,任泽生..执行器故障下机械臂有限时间容错控制[J].现代制造工程,2025,(5):82-90,9.
