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所属单位：电气与电子工程学院

发表刊物：International Journal of Control, Automation, and Systems

项目来源：国家自然科学基金项目

关键字：Adaptive dynamic programming,decentralized control, fault tolerant control, modular manipulators.

摘要：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.

合写作者：聂福杰,安天骄,马冰,李元春

第一作者：周帆

论文类型：期刊论文

卷号：20

期号：10

页面范围：1

ISSN号：1598-6446

是否译文：否

发表时间：2022-10-20