Sensor Fault-tolerant Model-free Adaptive Control of Flexible Joint Space Manipulator
A model free adaptive fault-tolerant control method based on fault observation of space manipulator motion sensors is proposed to address the serious impact of sensor signal distortion,loss,and other fault states on the performance of space manipulator control systems.Dynamic linearization and recursive parameter estimation were used to design the sensor fault monitor,which can judge the sensor disturbance and data loss and predict the motion state.A model-free adaptive control criterion function containing tracking error rate of change term was established to effectively punish the abrupt change of parameter estimation caused by sensing anomalies.A novel sensor fault-tolerant model-free adaptive control(SFT-MFAC)algorithm for flexible joint space manipulator was designed.The simulation results show that the proposed control strategy can quickly and accurately identify the sensor fault information,avoid the instantaneous divergence of the system,effectively extend the response time of the system,and increase the robustness of the control system under different sensor abnormalities.
Flexible jointSpace manipulatorSensor faultModel-free adaptive controlFault-tolerant control
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