Distributed Fault Tolerant Control of Networked Euler-Lagrange Systems under Actuator Faults

摘要：

　　This paper provides a distributed fault-tolerant cooperative control strategy for a class of networked Euler-Lagrange systems subject to the additive actuator faults and the partial loss of actuator effectiveness.The proposed fault-tolerant cooperative controller consists of two parts: the nominal cooperative controller and the auxiliary cooperative controller.The nominal cooperative controller is developed firstly when the actuators are fault-free.The auxiliary cooperative controller is designed to compensate for the actuator faults.Numerical simulation results are presented to demonstrate the effectiveness of the proposed control law and illustrate its robustness to external disturbances and actuator faults.

关键词： Distributed control Fault tolerant control Networked Euler-Lagrange systems Actuator faults

作者: CHEN Gang LIN Qing

作者单位: College of Automation,Chongqing University,Chongqing 400044

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 1087-1092

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）