Journal of Electrical Engineering and Technology

The Korean Institute of Electrical Engineers (대한전기학회)
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Policy Iteration Algorithm Based Fault Tolerant Tracking Control: An Implementation on Reconfigurable Manipulators

  • Li, Yuanchun (Department of Control Science and Engineering, Changchun University of Technology) ;
  • Xia, Hongbing (Department of Control Science and Engineering, Changchun University of Technology) ;
  • Zhao, Bo (The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences)
  • Received : 2016.11.01
  • Accepted : 2018.04.20
  • Published : 2018.07.01
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Abstract

This paper proposes a novel fault tolerant tracking control (FTTC) scheme for a class of nonlinear systems with actuator failures based on the policy iteration (PI) algorithm and the adaptive fault observer. The estimated actuator failure from an adaptive fault observer is utilized to construct an improved performance index function that reflects the failure, regulation and control simultaneously. With the help of the proper performance index function, the FTTC problem can be transformed into an optimal control problem. The fault tolerant tracking controller is composed of the desired controller and the approximated optimal feedback one. The desired controller is developed to maintain the desired tracking performance at the steady-state, and the approximated optimal feedback controller is designed to stabilize the tracking error dynamics in an optimal manner. By establishing a critic neural network, the PI algorithm is utilized to solve the Hamilton-Jacobi-Bellman equation, and then the approximated optimal feedback controller can be derived. Based on Lyapunov technique, the uniform ultimate boundedness of the closed-loop system is proven. The proposed FTTC scheme is applied to reconfigurable manipulators with two degree of freedoms in order to test the effectiveness via numerical simulation.

Keywords

Acknowledgement

Supported by : National Natural Science Foundation of China, State Key Laboratory of Management and Control for Complex Systems

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