Modeling and fault tolerant controller design for PM spherical actuator

Authors:
Zheng Li
Affiliations:
School of Electrical Engineering and Information Science, Hebei University of Science and Technology, Shijiazhuang, China
Venue:
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
Year:
2010

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Abstract

This paper presents a method based on neural networks for achieving fault tolerant control in the PM spherical actuator control scheme. The model of a PM spherical actuator was developed. Tuning rules of the RBF networks which guarantees the stability of the fault system were derived and the on-line fault tolerant control scheme was developed. The control scheme does not need fault detection and diagnosis modules. An application tracking control problem for the tracking errors and Euler angles of an actuator driven by independent stator and rotor pairs is solved by using the controller. The effectiveness of the proposed method is illustrated by performing the simulation of a space trajectory tracking control.