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基于信号重构的可重构机械臂主动分散容错控制

DOI: 10.3724/SP.J.1004.2014.01942, PP. 1942-1950

Keywords: 可重构机械臂,传感器故障,信号重构技术,模糊控制,主动分散容错控制

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Abstract:

?针对可重构机械臂系统传感器故障,提出一种基于信号重构的主动分散容错控制方法.基于可重构机械臂系统模块化属性,采用自适应模糊分散控制系统实现正常工作模式时模块关节的轨迹跟踪控制.当在线检测出位置或速度传感器故障时,分别采用数值积分器或微分跟踪器重构相应信号,并以之代替故障信号进行反馈实现系统的主动容错控制.此方法充分利用了冗余信息,避免了故障关节控制性能的下降对其他关节的影响.数值仿真结果验证了所提出容错控制方法的有效性.

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