کنترل تحمل‌پذیر عیب فعال بر مبنای رهیافت مد لغزشی ترمینال انتگرالی غیرتکین پسگام تطبیقی

نوع مقاله : مقاله پژوهشی

نویسندگان

1 دانشجوی دکتری، مهندسی مکانیک، دانشگاه شهید بهشتی، تهران، ایران

2 هیئت علمی/ دانشگاه شهید بهشتی پردیس فنی عباسپور

3 دانشجوی دکتری، مهندسی مکانیک، دانشگاه شهید بهشتی، تهران، ایران،

چکیده

در این مقاله، کنترل فعال تحمل‌پذیر عیب زمان محدود بر مبنای روش کنترل تطبیقی پسگام غیرتکین مد لغزشی ترمینال سریع انتگرالی به منظور کنترل یک ربات اسکلت خارجی پایین تنه در حضور عیب عملگر ارائه شده است. برای شناسایی و ایزوله‌کردن عیب عملگر، از روئیت‌گر مد لغزشی فراپیچشی مرتبه سوم استفاده شده است. برای حذف پدیده چترینگ در کنترل مد لغزشی معمولی، الگوریتم مد لغزشی فراپیچشی بکار گرفته شده است که منجر به همگرایی زمان محدود و دقت بالا در ردیابی مسیرهای مرجع می‌شود. ترم پسگام این کنترل‌کننده نیز پایداری عمومی بر اساس معیار لیاپانوف را تضمین خواهد کرد. همچنین از حرکت لینک کمر برای ایجاد پایداری بر اساس معیار نقطه گشتاور صفر استفاده شده است. برای دستیابی به پایداری حداکثری ربات بر اساس معیار نقطه گشتاور صفر، کمترین خطا در تعقیب مسیرهای مطلوب مفاصل ربات و افزایش قابلیت سیستم در تحمل عیب عملگر، پارامترهای کنترل‌کننده پیشنهادی، پارامترهای مسیر مطلوب بالاتنه و پارامترهای رویتگر به کمک الگوریتم جستجوی هارمونی بهینه شده است. عملکرد کنترل‌کننده پیشنهادی با عملکرد کنترل‌کننده مد لغزشی معمولی با و بدون حلقه تشخیص عیب مقایسه شده است. نتایج شبیه‌سازی برتری کنترل‌کننده پیشنهادی را در حضور عیب عملگر نسبت به کنترل‌کننده‌های دیگر نشان می‌دهد.

کلیدواژه‌ها

موضوعات

عنوان مقاله [English]

Active fault tolerant control based on adaptive back-stepping nonsingular fast integral terminal sliding mode approach

نویسندگان [English]

  • majid mokhtari 1
  • Mostafa Taghizadeh 2
  • mahmood mazare 3
1 School of Mechanical engineering, ShahidBeheshti University, Tehran, Iran
2 shahid beheshti university
3 School of Mechanical Engineering, ShahidBeheshtiUniversity, Tehran, Iran.
چکیده [English]

In this paper, finite-time active fault tolerant control based on adaptive back-stepping nonsingular fast integral terminal sliding mode control is proposed to control a lower limb exoskeleton in the presence of actuator fault. In order to detect, isolate and accommodate the actuator fault, a third-order super twisting sliding mode observer is used. To eliminate the chattering of conventional sliding mode, supper twisting sliding mode algorithm is applied, which leads to finite-time convergence and high precision in tracking the desired trajectories. Back-stepping term guarantees global stability based on Lyapunov theory. Upper limb motion is used to provide stability to robot's motion based on zero-moment point criterion. In order to attain maximum stability based on zero-moment point, minimize error in tracking the desired trajectories, increase the tolerance of the controller against actuator fault, controller, observer and upper limb trajectory parameters are optimally tuned based on harmony search algorithm. Performance of the proposed controller is compared with the performance of sliding mode controller with/without fault information. Simulation results reveal the effectiveness of the proposed controller in the presence of actuator fault, uncertainty and disturbance in comparison with sliding mode controller.

کلیدواژه‌ها [English]

  • Exoskeleton
  • Adaptive robust Controller
  • Fault tolerant control
  • Zero moment point

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نشریه مهندسی مکانیک امیرکبیر
دوره 53، شماره 6 (Special Issue)
شهریور 1400
صفحه 3763-3782

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