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Performance-Guaranteed Fault Reconstruction for Mobile Robots via a Two-Dimensional Gain-Regulation Mechanism

作     者:Zhu, Jun-Wei Wu, Jun Feng, Yu Zhang, Dan Zhang, Wen-An Yu, Li 

作者机构:Zhejiang Univ Technol Dept Automat Hangzhou 310023 Peoples R China 

出 版 物:《IEEE-ASME TRANSACTIONS ON MECHATRONICS》 (IEEE ASME Trans Mechatron)

年 卷 期:2022年第27卷第1期

页      面:169-179页

核心收录:

学科分类:0808[工学-电气工程] 08[工学] 0802[工学-机械工程] 0811[工学-控制科学与工程] 

基  金:National Natural Science Foundation of China [61803334, 61822311, 61673351, 61973276, 61873237] Zhejiang Provincial Natural Science Foundation of China [LZ21F030004, LQ18F030012, LR17F030003] State Scholarship Fund of China Scholarship Council NSFC-Zhejiang Joint Fund for the Integration of Industrialization and Informatization [U1709213] 

主  题:Observers Mobile robots Estimation Matrix decomposition Scholarships Robot vision systems Reconstruction algorithms Fault reconstruction intermediate estimator (IE) mobile robots prescribed energy bound two-dimensional gain-regulation mechanism (TDGRM) 

摘      要:In mobile robots, the process or actuator faults caused by the aging of system components or misoperations may have a strong impact on the real-time control performance;however, it is still hard to identify them accurately online. This article is concerned with the fault reconstruction problem of mobile robots. To be specific, a novel intermediate estimator is proposed to reconstruct the faults, where the estimation performance is guaranteed in the sense of driving the estimation errors to a small prescribed energy bound via a two-dimensional gain-regulation mechanism. It is shown that the proposed estimator is more accurate than the existing extended state observers and nominal intermediate estimator. The experimental test verifies the effectiveness and superiority of the proposed fault reconstruction scheme.

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