Abstract:Aiming at the space robot system of floating-based attitude-controlled flexible arm with partial actuator failure, the fault-tolerant control of actuator fault and the active suppression of residual vibration of flexible arm were studied. The dynamic differential equation of the system was established by combining the assumed mode method, the conservation theorem of linear momentum and the Lagrangian equation of the second kind. Based on the singular perturbation theory, the system was decomposed into a slow-varying subsystem representing the attitude of the base and joint trajectory tracking and a fast-varying subsystem representing the residual vibration of the flexible arm. Based on this, a compound controller was designed, which is composed of an adaptive neural network fault-tolerant controller of the slow-varying subsystem and a linear quadratic optimal regulator of the fast-varying subsystem. The fault-tolerant controller of the slow-varying subsystem makes the system insensitive to actuator faults and ensures the asymptotic convergence of the tracking error; the optimal regulator of the fast-varying subsystem can effectively restrain the residual vibration caused by the flexible arm and reduce the energy loss. The correctness of the theoretical derivation and the feasibility of the compound control strategy are verified by numerical simulation.
雷荣华,陈力. 姿态受控柔性臂空间机器人的自适应神经网络容错控制及残振抑制[J]. 振动与冲击, 2020, 39(7): 156-162.
LEI Ronghua, CHEN Li. Adaptive neural network fault-tolerant control and residual vibration suppression for flexible-arm space robot with attitude-controlled base. JOURNAL OF VIBRATION AND SHOCK, 2020, 39(7): 156-162.
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