摘要
针对非线性自主移动机器人可能发生的驱动器故障,提出了一种新的自适应容错控制方法,即基于主动建模的逆动力学控制（IDC）方法.无色卡尔曼滤波（UKF）非线性估计方法用于对系统进行主动建模——状态和故障参数的在线联合估计,含有可调参数的逆动力学控制器用于根据UKF的估计结果进行控制策略的重构.仿真实验证明,具有主动建模的控制器能够有效地补偿系统的驱动器故障,使故障后的系统仍具有令人满意的性能.
A novel fault-tolerant adaptive control method, named active-modeling-based inverse dynamic control （IDC）, is proposed. The method is designed against the actuator faults of the autonomous mobile robot. The Unscented Kalman Filter （UKF） is employed for active modeling-real time estimation of both the motion states and the fault parameters. Such an active estimation is further incorporated into inverse dynanfics controller. The enhanced IDC can reconfigure itself by the UKF estimation. Extensive simulations have verified that with active modeling, the controller can effectively compensate the actuator failure and make the post-fault system achieve satisfactory performance.
出处
《高技术通讯》
CAS
CSCD
北大核心
2006年第7期691-696,共6页
Chinese High Technology Letters
基金
863计划（2003AA421020）资助项目.
