基于事件触发的柔性机械臂执行器故障补偿

doi:10.12305/j.issn.1001-506X.2025.04.27

系统工程与电子技术 ›› 2025, Vol. 47 ›› Issue (4): 1311-1318.doi: 10.12305/j.issn.1001-506X.2025.04.27

基于事件触发的柔性机械臂执行器故障补偿

邢胜杰¹, 赵冬¹^,², 任文静³^,*

1. 安徽大学人工智能学院, 安徽合肥 230601
2. 系统控制与信息处理教育部重点实验室, 上海 200240
3. 合肥工业大学电气工程与自动化学院, 安徽合肥 230009

收稿日期:2024-06-03 出版日期:2025-04-25 发布日期:2025-05-28
通讯作者: 任文静
作者简介:邢胜杰(2000—), 男, 硕士研究生, 主要研究方向为柔性机械臂边界容错控制
赵冬(1990—), 男, 副教授, 硕士研究生导师, 博士, 主要研究方向为分布参数系统容错控制
任文静(1990—), 女, 副研究员, 硕士研究生导师, 博士, 主要研究方向为互联系统容错控制
基金资助:
国家自然科学基金(62203002);国家自然科学基金(62203148);安徽省自然科学基金(2208085QF204);安徽省自然科学基金(2208085QF203)

Event-triggered based actuator failure compensation for flexible manipulator

Shengjie XING¹, Dong ZHAO¹^,², Wenjing REN³^,*

1. School of Artificial Intelligence, Anhui University, Hefei 230601, China
2. Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai 200240, China
3. School of Electrical Engineering and Automation, Hefei University of Technology, Hefei 230009, China

Received:2024-06-03 Online:2025-04-25 Published:2025-05-28
Contact: Wenjing REN

摘要/Abstract

摘要：

针对柔性单连杆机械臂执行器由于执行器老化、磨损等原因产生偏移故障的问题, 提出一种迟滞量化器和事件触发机制相结合的自适应边界容错控制。首先, 采用带有未知参数的迟滞量化器量化控制输入信号。其次, 构造一种静态事件触发机制, 降低输入信号资源的消耗。进而, 基于改进的Lyapunov直接法设计自适应边界容错控制律及参数更新律。最后, 仿真结果表明, 所提控制算法是可行的。在通信约束和扰动下, 与传统的自适应方法相比, 所提控制方法可以获得更好的姿态跟踪效果, 同时能够以较低的计算负荷实现系统的稳定性。

关键词: 自适应边界控制, 事件触发机制, 柔性机械臂, 输入量化, 执行器故障

Abstract:

To solve the problem of offset failure of flexible single-link manipulator actuator due to actuator aging and wear, an adaptive boundary fault-tolerant control combining hysteresis quantizer and event trigger mechanism is proposed. Firstly, a hysteresis quantizer with unknown parameters is used to quantize the control input signal. Secondly, a static event trigger mechanism is constructed to reduce the consumption of input signal resources. Furthermore, the adaptive boundary fault-tolerant control law and parameter updation law are designed based on the improved Lyapunov direct method. Finally, the simulation results show that the proposed control algorithm is feasible. With communication constraints and disturbances, the proposed control method can achieve better posture tracking effect compared with traditional adaptive methods, while achieving system stability with lower computational load.

Key words: adaptive boundary control, event-triggered mechanism, flexible manipulator, input quantization, actuator fault

中图分类号:

TP273

邢胜杰, 赵冬, 任文静. 基于事件触发的柔性机械臂执行器故障补偿[J]. 系统工程与电子技术, 2025, 47(4): 1311-1318.

Shengjie XING, Dong ZHAO, Wenjing REN. Event-triggered based actuator failure compensation for flexible manipulator[J]. Systems Engineering and Electronics, 2025, 47(4): 1311-1318.

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基于事件触发的柔性机械臂执行器故障补偿

Event-triggered based actuator failure compensation for flexible manipulator

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