CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 平行控制
Local joint information based active fault tolerant control for reconfigurable manipulator
Zhao B(赵博)
Source PublicationNonlinear Dynamics
2014-03
Volume77Issue:3Pages:859-876
AbstractIn this study, a novel online fault compensation control scheme based on policy iteration (PI) algorithm is developed for a class of affine non-linear systems with actuator failures. The control scheme consists of a PI algorithm and a fault compensator. For fault-free dynamic models, the PI algorithm is developed to solve the Hamilton–Jacobi–Bellman equation by constructing a critic neural network, and then the approximate optimal control policy can be derived directly. Alternatively, the actuator failure is reconstructed adaptively to achieve online fault compensation without the fault detection and isolation mechanism. The closed-loop system is proved to be asymptotically stable via Lyapunov's direct method. Two numerical simulation examples are given to demonstrate the effectiveness of the proposed fault compensation control scheme.
KeywordReconfigurable Manipulators Local Joint Information Fault Detection And Identification Active Fault Tolerant Control Nonlinear Velocity Observer Radial Basis Function Neural Network
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/22098
Collection复杂系统管理与控制国家重点实验室_平行控制
Recommended Citation
GB/T 7714
Zhao B. Local joint information based active fault tolerant control for reconfigurable manipulator[J]. Nonlinear Dynamics,2014,77(3):859-876.
APA Zhao B.(2014).Local joint information based active fault tolerant control for reconfigurable manipulator.Nonlinear Dynamics,77(3),859-876.
MLA Zhao B."Local joint information based active fault tolerant control for reconfigurable manipulator".Nonlinear Dynamics 77.3(2014):859-876.
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