基于双变量决策的单连杆机械臂系统容错异步控制方法
By adopting a fault-tolerant asynchronous control method based on bivariate decision-making, the stability and accuracy problems of a single-link robotic arm system under non-exponential distribution of modal dwell time and actuator failure are solved, realizing the stochastic stability and fault compensation of the system, and improving control accuracy and robustness.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BOHAI UNIV
- Filing Date
- 2025-12-16
- Publication Date
- 2026-07-17
AI Technical Summary
In single-link robotic arm systems, existing control methods suffer from poor system stability and low control accuracy when the modal dwell time follows a non-exponential distribution, there is an asynchronous mismatch between the controller and the system modes, or the actuator malfunctions.
A fault-tolerant asynchronous control method based on bivariate decision-making is adopted. By establishing a dynamic model of a semi-Markov jump system, a fault-tolerant asynchronous controller structure is designed. Combining Lyapunov stability theory and a set of linear matrix inequalities, the final control law is generated to achieve stochastic stability and fault compensation of the system.
Under load variations and actuator failures, the stochastic stability and control precision of the single-link robotic arm are guaranteed. It can adapt to the non-exponential distribution of mode switching, has the ability to compensate for actuator failures, and incorporates human experience data to improve the dynamic response capability of the system.
Smart Images
Figure CN121403395B_ABST