Research On Fault Tolerant Switching Control System Of Robotic Manipulator Based On Network

The Networked Control System(NCS)has many advantages,while there are also many problems,such as sampling cycle change,network induced de lay,packet loss,single-packet,multi-packet transmission,node-driven mode,network information scheduling,data out-of-order and noise interference.In order to make NCS more robust,the emergence of fault-tolerant controllers becomes particularly important,which enables NCS to develop its own advantages while overcoming network uncertainties.Besides that,switching control as a kind of fault-tolerant control strategy has also been increasingly concerned by scholars of all walks of life.The controller that achieves fault-tolerant effect through switching has better stability and less computational power,so its energy consumption is less sui table for practical application.This thesis mainly studies and analyzes the fault-tolerant switching control system of the network with the underactuateds manipulator as the control object.Firstly,a network control system model is established,and network delays,uncertainties,and non-linear problems are fully considered.Then Lyapunov stability theory,linear matrix inequality,and other tools are used to analyze the performance,stability,and controller design of the system.At last,using the Matlab Truetime Toolbox to simulate the problem under consideration to ve rify the validity of the theory.Details as follows,Firstly,considering the network delay and system uncertainties,consider and analyze the stability of the newly established robotic arm model,and then build a H_?robust controller based on the game theory for the studied model,via Markov.The jump switching achieves the fault-tolerant effect and is then compared with the original operating data of the robot arm to prove the effectiveness of the controller.Secondly,considering the uncertainty in network transmission,the same underactuated robotic arm system is studied based on linear matrix inequality(LMI s)computational control method and switching fault-tolerant control.The simulation data is compared with the game theory controller operating data.This proves the superiority of this method over game theory.Finally,without considering the model,using the improved Jacobi algorithm and PID algorithm to study underactuated manipulator system under the same conditions,the algorithm has less calculation and avoids the switch generation.The energy consumption was then compared and analyzed through simulation with LMI and game theory methods,which proved the superiority of this calculation method.