Switching fault-tolerant control of a moving vehicle-mounted flexible manipulator system with state constraints
作者： Xueyan Xing , Jinkun Liu
DOI: 10.1016/J.JFRANKLIN.2018.02.018
关键词: Partial differential equation 、 Computer science 、 Fault tolerance 、 Exponential stability 、 Ordinary differential equation 、 Control theory 、 Position (vector) 、 Invariance principle 、 Vibration control 、 Actuator
摘要: Abstract In this brief, a switching fault-tolerant control (FTC) scheme is presented for moving vehicle-mounted flexible manipulator subject to state constraints. The dynamic characteristics of the system are represented by coupled ordinary differential equations and partial (ODEs–PDEs). When actuators healthy, vibration position regulations can be realized without violation given constraints based on Barrier Lyapunov Function (BLF). Moreover, strategy introduced prevent transgression even under actuator failure detecting faults as-assisted proposed monitoring functions. closed-loop states kept within bounds FTC laws. By extending LaSalle's Invariance Principle an infinite dimension, asymptotic stability fault-free strictly verified. Simulation results demonstrate effectiveness approach.
sci-hub.se 参考文章(43)
Zhuangyi Liu, S. Zheng, Semigroups Associated with Dissipative Systems ,(1999)
Rickey Dubay, Marwan Hassan, Chunying Li, Meaghan Charest, Finite element based model predictive control for active vibration suppression of a one-link flexible manipulator ISA Transactions. ,vol. 53, pp. 1609- 1619 ,(2014) , 10.1016/J.ISATRA.2014.05.023
Keng Peng Tee, Shuzhi Sam Ge, Control of nonlinear systems with full state constraint using a Barrier Lyapunov Function conference on decision and control. ,vol. 84, pp. 2008- 2023 ,(2009) , 10.1080/00207179.2011.631192
Pål J. From, Vincent Duindam, Kristin Y. Pettersen, Jan T. Gravdahl, Shankar Sastry, Singularity-free dynamic equations of vehicle–manipulator systems Simulation Modelling Practice and Theory. ,vol. 18, pp. 712- 731 ,(2010) , 10.1016/J.SIMPAT.2010.01.012
Xiao-Zheng Jin, Robust Adaptive Switching Fault-Tolerant Control of a Class of Uncertain Systems against Actuator Faults Mathematical Problems in Engineering. ,vol. 2013, pp. 1- 9 ,(2013) , 10.1155/2013/852502
Christopher D Rahn, Mechatronic Control of Distributed Noise and Vibration: A Lyapunov Approach ,(2011)
Wei He, Shuzhi Sam Ge, Bernard Voon Ee How, Yoo Sang Choo, Keum-Shik Hong, Robust adaptive boundary control of a flexible marine riser with vessel dynamics Automatica. ,vol. 47, pp. 722- 732 ,(2011) , 10.1016/J.AUTOMATICA.2011.01.064
Linjun Zhang, Jinkun Liu, Adaptive boundary control for flexible two-link manipulator based on partial differential equation dynamic model Iet Control Theory and Applications. ,vol. 7, pp. 43- 51 ,(2013) , 10.1049/IET-CTA.2011.0593
Shawn E. Burke, James E. Hubbard, Distributed actuator control design for flexible beams Automatica. ,vol. 24, pp. 619- 627 ,(1988) , 10.1016/0005-1098(88)90109-4