کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / هشتمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

Sensor-Fault-Tolerant Controller for a Flexible-link Manipulator with Output Constraint

نویسندگان :

Mona Raoufi¹ Hadi Delavari²

1- دانشگاه اصفهان 2- دانشگاه صنعتی همدان

کلمات کلیدی :

Flexible-Link Manipulator, Barrier Lyapunov Function (BLF), PSO, Sensor Fault Tolerant, Concurrent Learning.

چکیده :

In this paper, a robust control strategy is proposed for a flexible-link manipulator to track the reference signal. The main framework of the controller is based on backstepping. First, a virtual control rule is designed by using a Barrier Lyapunov function such that the output constraint is satisfied. Then, the second tracking error is defined and the input torque is formulated. The control design parameters in each step are optimally tuned by PSO, which is an optimal technique. Furthermore, fault estimation and elimination are set to ensure the desirable reference tracking by adopting the concurrent learning technique. Finally, simulation results are given to verify the efficiency of the proposed controller.

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