TY - Jour A2 - Yoshida，Kazuya Au - Carvalho Leite，Alexandre Au - Schäfer，Bernd Au - De Oliveira E Souza，Marcelo Lopes Py - 2012 DA - 2012/12/31 TI - 容错控制策略转向驾驶失败图中，Planetary Rovers SP-694673 VL - 2012 AB - 耐用控制设计的轮式行星升降机。本文介绍了设计过程的所有步骤，从建模/模拟到实验。简化的接触型号与多体仿真模型一起使用并调谐以适合实验数据。标称模式控制器设计稳定，并具有其参数优化，以改善跟踪性能和应对物理边界和执行器饱和度。该控制器在实际流动站中实施并通过实验验证。影响分析定义了要处理的故障的曲折。转向接头的故障被选为故障模式;它们组合了六种故障模式，总共63个可能的这些故障配置。容错控制器被设计为两步过程，以提供替代转向并以类似于螃蟹式驱动模式的方式重用标称控制器。 Three fault modes are injected (one, two, and three failed steering joints) in the real rover to evaluate the response of the nonreconfigured and reconfigured control systems in face of these faults. The experimental results justify our proposed fault-tolerant controller very satisfactorily. Additional concluding comments and an outlook summarize the lessons learned during the whole design process and foresee the next steps of the research. SN - 1687-9600 UR - https://doi.org/10.1155/2012/694673 DO - 10.1155/2012/694673 JF - Journal of Robotics PB - Hindawi Publishing Corporation KW - ER -