执行机构
对偶(语法数字)
容错
控制(管理)
计算机科学
任务(项目管理)
李雅普诺夫函数
功能(生物学)
移动机械手
移动机器人
断层(地质)
控制系统
控制工程
对象(语法)
有界函数
工程类
控制理论(社会学)
分布式计算
机器人
非线性系统
人工智能
数学
量子力学
系统工程
进化生物学
生物
地震学
艺术
数学分析
电气工程
地质学
文学类
物理
作者
Shuang Zhang,Yue Wu,Xiuyu He,Zhijie Liu
出处
期刊:IEEE Transactions on Automation Science and Engineering
[Institute of Electrical and Electronics Engineers]
日期:2022-10-01
卷期号:19 (4): 2689-2698
被引量:4
标识
DOI:10.1109/tase.2021.3102588
摘要
This article discusses cooperative control of a mobile dual flexible manipulator system with asymmetric time-varying output constraints and actuator failures. The shift function and a barrier Lyapunov function (BLF) are used to guarantee output constraints when the initial states of the system violate the prescribed constraints. Moreover, an adaptive fault-tolerant control scheme is developed to deal with actuator failures, while suppressing system’s vibration and achieving cooperative operation. Finally, theoretic analysis proves the uniform bounded stability of the system and numerical simulation verifies the effectiveness of the proposed control method. Note to Practitioners—The purpose of this article is to develop a cooperative dual flexible manipulator system with performance limitations and actuator failures. The system can realize the task of stably grasping and moving a rigid object. The existing research on the grasping task of flexible manipulators only focuses on coordinated operation, which limits the application of the dual flexible manipulator system in practical engineering. To further study the problem, this article considers the output constraints and actuator failures of the dual flexible manipulator system in the actual process and proposes a cooperative fault-tolerant control framework. The control framework uses shift function and BLF to deal with output constraints and adopts adaptive technology to deal with actuator failures. In addition, the cooperative operation task of grasping object with dual flexible manipulators is realized. Simulation shows that this control strategy is feasible.
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