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| Adaptive robust fault tolerant control of a space continuum robot |
| Received:May 31, 2020 Revised:August 17, 2020 |
| View Full Text View/Add Comment Download reader |
| DOI：10.7511/jslx20200531001 |
| KeyWord:space continuum robot fault tolerant control adaptive neural network terminal sliding mode |
| Author | Institution |
| 邱小璐 |
大连理工大学 工程力学系, 大连 |
| 蔡志勤 |
大连理工大学 工程力学系, 大连 |
| 刘忠振 |
大连理工大学 工程力学系, 大连 |
| 彭海军 |
大连理工大学 工程力学系, 大连 ;大连理工大学 工业装备结构分析国家重点实验室, 大连 |
| 吴志刚 |
大连理工大学 工业装备结构分析国家重点实验室, 大连 |
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| Abstract: |
| An adaptive robust fault tolerant control algorithm is proposed to solve the three-arm actuator failure for a space continuum robot.The nonsingular fast terminal sliding mode controller is adopted and the switching gain of the control law is adjusted online through an adaptive RBF (Radial Basis Function) neural network,so the controller still has high tracking accuracy and strong robustness under the parameter uncertainties and external disturbance.The asymptotic stability of the whole system under the proposed control is verified by Lyapunov function.Simulation results show the effectiveness of the proposed algorithm. |