A fault-tolerant control method and control system for an underactuated rigid body system

A fault-tolerant control and underactuated technology, applied in general control systems, adaptive control, control/regulation systems, etc., can solve uncertain underactuated systems, uncertain underactuated characteristics of systems, and ineffective reliability of rigid body systems Improve and other issues to achieve the effect of improving reliability

Inactive Publication Date: 2018-03-02
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
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Problems solved by technology

[0003] In actual engineering, the control problem of the underactuated system will affect the reliability of the rigid body system, but because the actuator fault information is usually unknown, that is, whether there is an actuator fault in the system, which actuator fails and when the fault occurs is unknown, indeterminate actuator failures lead to system underactuation characteristics that are indeterminate
Moreover, due to the lack of fault-tolerant control methods for uncertain underactuated systems caused by such uncertain actuator failures, the reliability of rigid body systems cannot be effectively improved for a long time.

Method used

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  • A fault-tolerant control method and control system for an underactuated rigid body system
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  • A fault-tolerant control method and control system for an underactuated rigid body system

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Embodiment Construction

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0023] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. Hereinafter, embodiments of the present invention will be described in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or simi...

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Abstract

The embodiment of the invention discloses a fault-tolerant control method and control system for an underactuated rigid body system, which relates to the technical field of automatic control, and can adopt fault-tolerant control for an uncertain underactuated system caused by an uncertain actuator failure, thereby improving the reliability of the rigid body system sex. Applicable to uncertain underactuated rigid body systems. The method of the invention includes: designing a controller and a state predictor to ensure system stability performance for each fault condition, and selecting a suitable controller based on different state prediction errors.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a fault-tolerant control method and control system of an underactuated rigid body system. Background technique [0002] At present, most rigid body systems need to set actuators to maintain normal operation. When too many actuators in the system fail, it may cause the state of the system to change from overdriven or fully driven to underactuated. An underactuated system refers to the state of the system. A class of nonlinear systems in which the number of independent control variables is less than the number of degrees of freedom of the system, that is, a system with fewer inputs than the amount to be controlled. [0003] In actual engineering, the control problem of the underactuated system will affect the reliability of the rigid body system, but because the actuator fault information is usually unknown, that is, whether there is an actuator fault in the system, which...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 姚雪莲陶钢吕迅竑
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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