控制理论(社会学)
停留时间
执行机构
PID控制器
李雅普诺夫函数
跟踪误差
计算机科学
控制器(灌溉)
容错
控制工程
转化(遗传学)
理论(学习稳定性)
工程类
控制(管理)
人工智能
非线性系统
分布式计算
物理
机器学习
基因
生物
医学
临床心理学
化学
量子力学
生物化学
温度控制
农学
作者
Juan Wang,Qiang Wei,Liangliang Sun,Zhigang Li
标识
DOI:10.1177/01423312221099714
摘要
The multi-mode tracking control of robot manipulators with unknown dynamics is investigated in this paper. In view of varying loads, robot manipulators are modeled as multi-mode switched systems. Adaptive PID (proportion–integration–differentiation)–like switched controllers are designed via the error transformation and multiple Lyapunov function method, which can make the error system practical stability within prescribed time under a class of switching signals satisfying average dwell time. Furthermore, two cases under the healthy actuator and faulty actuator are discussed. For the case of the partial failure of the actuator, the fault-tolerant adaptive PID-like controller is presented, which consists of two parts. Finally, a simulation example is given to demonstrate the effectiveness of the proposed method.
科研通智能强力驱动
Strongly Powered by AbleSci AI