【SCI3区第一作者周帆通讯作者李元春】Decentralized Fault Tolerant Control of Modular Manipulators System Based on Adaptive Dynamic Programming

Release time:2022-12-14  Hits:

• Affiliation of Author(s):电气与电子工程学院
• Journal:International Journal of Control, Automation, and Systems
• Funded by:国家自然科学基金项目
• Key Words:Adaptive dynamic programming,decentralized control, fault tolerant control, modular manipulators.
• Abstract:This paper presented an original decentralized fault tolerant control approach for modular manipulators which based on adaptive dynamic programming (ADP) algorithm. First, the dynamic model of modular manipulators is established via joint torque feedback technique. Then, the fault tolerant controller is designed which composes of model-based compensation controller, observer-based fault tolerant controller and ADP-based optimal controller. According to ADP algorithm, the Hamiltonian-Jacobi-Bellman (HJB) equation can be tackled by critic neural network (NN). The closed-loop modular manipulators system is guaranteed asymptotic stable based on Lyapunov theory. Experiments are performed to verify the proposed method, and the results have guaranteed its effectiveness.
• Co-author:聂福杰,安天骄,mabing,liyuanchun
• First Author:zhoufan
• Indexed by:Journal paper
• Volume:20
• Issue:10
• Page Number:1
• ISSN No.:1598-6446
• Translation or Not:no
• Date of Publication:2022-10-20