Adaptive Fault Tolerant Control for a Parallel Mechanism Driven by Nine Cables with Input Saturation and Full-state Constrains

doi:10.3901/JME.2018.21.001

Abstract

Abstract: A novel adaptive fault tolerant control (AFTC) scheme, which is based on backstepping method, is used for the position and attitude tracking of a parallel mechanism driven by nine cables with both multiplicative and additive actuator faults.Both input saturation and full-state constrains are considered. A novel tan-type barrier Lyapunov functions (BLF) is taken to handle the full-state constrains. An auxiliary system is designed to analyze the effect of the input saturation. Simulation confirms that the estimation error of unknown actuator faults are bounded and the position and attitude tracking errors will converge to a neighborhood of zero. Meanwhile, the required full-state constrains and the constrains of cable force will not be violated during operation.

Key words: adaptive fault tolerant control, cable-driven parallel mechanism, full-state constrains, input saturation

CLC Number:

TG156

YI Wangmin, ZHENG Yu, LIU Xinjun, MENG Fanwei. Adaptive Fault Tolerant Control for a Parallel Mechanism Driven by Nine Cables with Input Saturation and Full-state Constrains[J]. Journal of Mechanical Engineering, 2018, 54(21): 1-10.

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