执行器故障下机械臂有限时间容错控制

doi:10.16731/j.cnki.1671-3133.2025.05.010

摘要/Abstract

摘要： 针对机械臂系统执行器故障,并考虑外界干扰和执行器输入饱和问题,设计了一种基于扩张状态观测器的滑模容错控制策略。首先,采用扩张状态观测器估计包括故障在内的复合干扰,该扩张状态观测器不依赖于全部状态可测和数学模型,可以准确地估计外界干扰和执行器故障。针对执行器的输入饱和问题,设计了一种非线性抗饱和补偿器实时补偿输入的饱和溢出效应;然后,提出了一种基于非奇异终端滑模的有限时间控制器实现了对机械臂系统的精准控制,该滑模变量的收敛时间有界且与系统初始状态无关。基于Lyapunov稳定性理论证明了闭环系统的有限时间稳定性;最后,通过与文献中将扩张状态观测器与边界层技术结合的控制方法进行仿真对比,验证了所提控制器的优越性。

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

Abstract: A sliding mode fault-tolerant control strategy based on extended state observer was designed to solve the problem of actuator failure,considering external interference and actuator input saturation. Firstly,the extended state observer was used to estimate 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.

Key words: manipulator system, actuator fault, extended state observer, sliding-mode control, finite time

中图分类号:

TP273

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, 536(5): 82-90.

CAO Shengjie, WU Hai, CHENG Yitao, REN Zesheng. Finite time fault-tolerant control of manipulator under actuator fault[J]. Modern Manufacturing Engineering, 2025, 536(5): 82-90.

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