Policy Iteration Algorithm Based Fault Tolerant Tracking Control: An Implementation on Reconfigurable Manipulators
Li, Yuanchun2; Xia, Hongbing2,3; Zhao, Bo1
2018-07-01
发表期刊JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY
卷号13期号:4页码:1739-1750
文章类型Article
摘要This paper proposes a novel fault tolerant tracking control (FTTC) scheme for a class of nonlinear systems with actuator failures based on the policy iteration (PI) algorithm and the adaptive fault observer. The estimated actuator failure from an adaptive fault observer is utilized to construct an improved performance index function that reflects the failure, regulation and control simultaneously. With the help of the proper performance index function, the FTTC problem can be transformed into an optimal control problem. The fault tolerant tracking controller is composed of the desired controller and the approximated optimal feedback one. The desired controller is developed to maintain the desired tracking performance at the steady-state, and the approximated optimal feedback controller is designed to stabilize the tracking error dynamics in an optimal manner. By establishing a critic neural network, the PI algorithm is utilized to solve the Hamilton-Jacobi-Bellman equation, and then the approximated optimal feedback controller can be derived. Based on Lyapunov technique, the uniform ultimate boundedness of the closed-loop system is proven. The proposed FTTC scheme is applied to reconfigurable manipulators with two degree of freedoms in order to test the effectiveness via numerical simulation.
关键词Adaptive Dynamic Programming Policy Iteration Fault Tolerant Tracking Control Reconfigurable Manipulators Neural Network
WOS标题词Science & Technology ; Technology
DOI10.5370/JEET.2018.13.4.1739
关键词[WOS]TIME NONLINEAR-SYSTEMS ; DYNAMIC-PROGRAMMING ALGORITHM ; NETWORK HJB APPROACH ; OBSERVER ; DESIGN
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61773075 ; Scientific and Technological Development Plan Project in Jilin Province of China(20150520112JH ; Early Career Development Award of SKLMCCS(20160520013 JH) ; Opening Funding of State Key Laboratory of Management and Control for Complex Systems(20150102) ; 61603 387 ; 20160414033GH) ; 61374051)
WOS研究方向Engineering
WOS类目Engineering, Electrical & Electronic
WOS记录号WOS:000435496700036
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/21819
专题复杂系统管理与控制国家重点实验室_平行控制
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Changchun Univ Technol, Dept Control Sci & Engn, Changchun 130012, Jilin, Peoples R China
3.Hytera Commun Co Ltd, Nanjing 210000, Jiangsu, Peoples R China
推荐引用方式
GB/T 7714
Li, Yuanchun,Xia, Hongbing,Zhao, Bo. Policy Iteration Algorithm Based Fault Tolerant Tracking Control: An Implementation on Reconfigurable Manipulators[J]. JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY,2018,13(4):1739-1750.
APA Li, Yuanchun,Xia, Hongbing,&Zhao, Bo.(2018).Policy Iteration Algorithm Based Fault Tolerant Tracking Control: An Implementation on Reconfigurable Manipulators.JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY,13(4),1739-1750.
MLA Li, Yuanchun,et al."Policy Iteration Algorithm Based Fault Tolerant Tracking Control: An Implementation on Reconfigurable Manipulators".JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY 13.4(2018):1739-1750.
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