|
| Design of adaptive decentralized fault-tolerant control algorithm for space robot under partial loss of actuator effectiveness |
| Received:May 29, 2018 Revised:June 29, 2018 |
| View Full Text View/Add Comment Download reader |
| DOI：10.7511/jslx20180529001 |
| KeyWord:space robot actuator fault effective factor adaptive fault-tolerant control |
| Author | Institution |
| 雷荣华 |
福州大学 机械工程及自动化学院, 福州 |
| 陈力 |
福州大学 机械工程及自动化学院, 福州 |
|
| Hits: 2326 |
| Download times: 866 |
| Abstract: |
| An adaptive H-infinity decentralized fault-tolerant control algorithm is proposed for a free-floating space robot under partial loss of actuator effectiveness.The dynamics equation of the space robot is established by the use of Lagrange method.The system is decentralized into several subsystems based on the idea of decentralization and the effective factor representing the control ability of the actuator is integrated into each subsystem.The actuator failure of a subsystem will not affect the normal operation of the adjacent actuator.The fault-tolerant control of the whole system is realized by designing unified fault-tolerant algorithm for each subsystem.Simulation results show that the algorithm has a higher tracking speed and higher tracking accuracy compared with the existing non-singular terminal sliding mode fault-tolerant algorithm. |