This paper presents a robust hybrid fault-tolerant optimal predictive control (HFTPC), for an industrial robot arm under hybrid (electric and pneumatic) actuator faults and/or varying time-delays. Based on the error dynamics, estimated states, and a predictive controller, a new state feedback control law is proposed and implemented for the reformulation of the optimal control problem of a nonlinear faulty hybrid actuator system based on predictive control via linear matrix inequalities (LMIs). First, a robust MPC scheme is performed in which the future control sequence is used to compensate the varying time-delays. Then, a robust stable hybrid fault tolerant predivtive control is implemented to handle actuators faults to effect robust trajectory tracking. In fact, the stability of hybrid systems based on the proposed control scheme is a very sensitive criterion. Therefore, stability conditions are required for controlling the industrial arm under faulty hybrid (electric and pneumatic) actuator, based on the Lyapunov-Krasovskii (L-K) theory, less conservative stable conditions in terms of LMIs are given and used to ensure the asymptotically robust stability of closed-loop constrained system that dependent delay-range. To highlight the robustness and effectiveness of the proposed approach, a simulation study of an industrial robot arm example is proved, where the results showed the prompt and the accuracy of the proposed scheme.

中文翻译：

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工业机械臂时变延迟混合执行器的鲁棒容错优化预测控制

本文提出了一种稳健的混合容错最优预测控制 (HFTPC)，适用于混合（电动和气动）执行器故障和/或变化时延下的工业机器人手臂。基于误差动力学、估计状态和预测控制器，提出并实现了一种新的状态反馈控制律，用于重构基于线性矩阵不等式（LMI）预测控制的非线性故障混合执行器系统的最优控制问题. 首先，执行稳健的 MPC 方案，其中使用未来控制序列来补偿变化的时间延迟。然后，实施鲁棒稳定混合容错预测控制来处理执行器故障，以实现鲁棒轨迹跟踪。实际上，基于所提出的控制方案的混合系统的稳定性是一个非常敏感的标准。因此，基于Lyapunov-Krasovskii（LK）理论，在故障混合（电动和气动）执行器下控制工业臂需要稳定条件，给出了LMI方面不太保守的稳定条件，并用于确保渐近鲁棒稳定性依赖延迟范围的闭环约束系统。为了突出所提出方法的鲁棒性和有效性，对工业机器人手臂实例进行了仿真研究，结果表明所提出方案的及时性和准确性。基于Lyapunov-Krasovskii（LK）理论，给出了LMI方面的不太保守的稳定条件，并用于确保依赖延迟范围的闭环约束系统的渐近鲁棒稳定性。为了突出所提出方法的鲁棒性和有效性，对工业机器人手臂实例进行了仿真研究，结果表明所提出方案的及时性和准确性。基于Lyapunov-Krasovskii（LK）理论，给出了LMI方面的不太保守的稳定条件，并用于确保依赖延迟范围的闭环约束系统的渐近鲁棒稳定性。为了突出所提出方法的鲁棒性和有效性，对工业机器人手臂实例进行了仿真研究，结果表明所提出方案的及时性和准确性。