Predefined time error constraint fault-tolerant control method for single-connecting-rod robot system under actuator fault

Through the predefined time stability theorem and the virtual and adaptive control law design of fuzzy logic systems, the error and stability problems of single-link robot systems under actuator failure are solved, and the error convergence and control accuracy are improved within a predetermined time.

CN120469227APending Publication Date: 2025-08-12TIANJIN UNIV OF SCI & TECH
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Patent Information

Application Number
CN202510607597.4
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-05-13
Publication Date
2025-08-12

AI Technical Summary

Technical Problem

The single-link robot system has problems of control accuracy and stability in the event of actuator failure, and it is difficult for the prior art to effectively reduce errors and maintain system stability in a short period of time.

Method used

Using predefined time stability theorem, fuzzy logic system and inverse step technology, virtual control laws and adaptive laws are designed, errors are constrained by constructing nonlinear mathematical models and obstacles Lyapunov functions, and actual control laws are designed to ensure that the system tracks a given signal within a predetermined time.

Benefits of technology

In the case of actuator failure, the system error converges to a small neighborhood within a predetermined time, improves the error accuracy and reaction speed of the controller, and enhances the stability and control effect of the system.

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Abstract

The invention provides a predefined time error constraint fault-tolerant control method for a single-link robot system under an actuator fault. The predefined time error constraint fault-tolerant control method comprises the following steps: constructing a nonlinear mathematical model of the single-link robot system under the actuator fault; the error generated by the given signal and the actual output is restrained; designing a virtual control law and an adaptive law of the controller by using a fuzzy logic system and a backstepping technology; designing an actual control law of the controller according to the virtual control law and the adaptive law of the controller; it is guaranteed that after an actuator of the single-connecting-rod robot system breaks down, the actual output can track a given signal within preset time; and finally, the effectiveness of the fault-tolerant control method is proved through a physical simulation experiment of the single-link robot system. According to the single-link robot system predefined time error constraint fault-tolerant control method under the actuator fault, it can be guaranteed that the system has good tracking performance, and meanwhile the loss influence on the robot system caused by the actuator fault is reduced.
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