基于事件触发的柔性机械臂执行器故障补偿

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中图分类号：TP273 文献标志码：A DOI：10.12305/j.issn.1001-506X.2025.04.27

Abstract：To solve the problem of ofset failure of flexible single-link manipulator actuator due to actuator aging and wear，an adaptive boundary fault-tolerant control combining hysteresis quantizer and event trigger mechanism is proposed. Firstly，a hysteresis quantizer with unknown parameters is used to quantize the control input signal. Secondly，a static event trigger mechanism is constructed to reduce the consumption of input signal resources. Furthermore，the adaptive boundary fault-tolerant control law and parameter updation law are designed based on the improved Lyapunov direct method.Finally，the simulation results show that the proposed control algorithm is feasible.With communication constraints and disturbances，the proposed control method can achieve better posture tracking effect compared with traditional adaptive methods，while achieving system stability with lower computational load.

Keywords：adaptive boundary control；event-triggered mechanism；flexible manipulator；input quantization; actuator fault

0 引言

随着机器人技术和现代科技的快速发展，机械臂已经出现在很多场合中，帮助或者替代人类去完成一些高危、繁杂的工作。（剩余13871字）