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An adaptive sliding mode controller for accommodating actuator failures
Hao LY(郝立颖); Ye D(叶丹); Yang GH(杨光红)
作者部门机器人学研究室
会议名称2013 25th Chinese Control and Decision Conference, CCDC 2013
会议日期May 25-27, 2013
会议地点Guiyang, China
会议录名称2013 25th Chinese Control and Decision Conference, CCDC 2013
出版者IEEE Computer Society
出版地Washington, United States
2013
页码4935-4940
收录类别EI ; CPCI(ISTP)
EI收录号20133516668903
WOS记录号WOS:000326977304188
产权排序2
ISBN号978-1-4673-5532-2
关键词Actuators Factorization Linear Systems Sliding Mode Control
摘要This paper deals with the robust adaptive fault-tolerant compensation control problem for linear systems with actuator faults. By incorporating the matrix full-rank factorization technique with sliding surface design successfully, the total failure of certain actuators can be coped with, under the assumption that redundancy is available in the system. Without the need for a fault detection and isolation (FDI) mechanism, an adaptive sliding mode controller based on a new lemma is designed to maintain the sliding mode, where the gain of the nonlinear unit vector term is updated automatically to compensate the effects of actuator faults, and exogenous disturbances. The effectiveness of the proposed design method is illustrated via an example. © 2013 IEEE.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/12410
专题机器人学研究室
推荐引用方式
GB/T 7714
Hao LY,Ye D,Yang GH. An adaptive sliding mode controller for accommodating actuator failures[C]. Washington, United States:IEEE Computer Society,2013:4935-4940.
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