Research On Reconfigurable Manipulator Fault Tolerant Control Method With Actuator Saturation

Modular reconfigurable manipulator system can make up for the shortcomings of traditional fixed-form manipulator.It can be reconfigured according to task changes.Because of its special operating environment,it has high requirements for its reliability.Therefore,the research on fault-tolerant control of modular reconfigurable manipulator system has great theoretical value.At present,most of the research on control algorithm is at the theoretical level,and less consideration is given to actuator saturation constraints.Solving these problems is a key step to integrate theory with practice,so it has profound practical significance to study the control method of reconfigurable manipulator with saturation constraints.This paper first introduces the background and significance of the topic,and then introduces the research status.Secondly,the Newton-Eulerian method is used to iterate the dynamics of the reconfigurable manipulator system.Then,considering the practical problems of saturation constraint and energy loss of the system,the optimal control problem of reconfigurable manipulator system with actuator saturation constraint is studied.Based on the adaptive dynamic programming method,the solution of the Hamilton-Jacobi-Bellman(HJB)equation is derived online,and the solution of the HJB equation is approximated by the neural network-RBF network.And it is carried out stability analysis and simulation verification.Next,based on the optimal control study of the fault-tolerant control method for actuator additive faults in the system is explored.The fault observer is designed,and the fault real-time observation is carried out.According to the fault information combined with the optimal control theory,an improved loss function is designed to transform the faulttolerant control into the optimal control,and then the fault-tolerant control of the reconfigurable robot arm under the actuator saturation constraint is obtained.The stability of optimal control strategy is analyzed and verified.Finally,the paper summarizes the full text and looks forward to further research in light of the problems encountered in the work.