Passive Fault Tolerant Robotic Control Based on Fuzzy Rules against Actuator Constraints

摘要

Aiming at the decreasing performance of robotic system under the constraints of actuators, this paper presents some passive fault tolerant robotic control strategies which are based on the analysis of Lyapunov function and fuzzy rules. In this process, using the idea of local high-gain feedback and a hyperbolic tangent function, the control gains are adjusted, and the requirement of high-level outputs of the actuators is limited which performs the systemic global asymptotic stability, and at the same time the gain of normal PD controller is optimized by a fuzzy-sets method from which the fault tolerant control against actuator constraints is realized in robotic manipulators and a better fault tolerant performance is got. Simulations on 2-DOF manipulators validate the effectiveness of the given controller