CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 平行控制
Multiple faults detection and isolation via decentralized sliding mode observer for reconfigurable manipulator
Zhao B(赵博)
Source PublicationJournal of Electrical Engineering & Technology
2015
Volume10Issue:6Pages:2393- 2405
Abstract
This paper considers a decentralized multiple faults detection and isolation (FDI) scheme for reconfigurable manipulators. Inspired by their modularization property, a global sliding mode (GSM) based stable adaptive fuzzy decentralized controller is investigated for the system in fault free, while for the system suffering from multiple faults (actuator fault and sensor fault), the decentralized sliding mode observer (DSMO) is employed to detect their occurrence. Hereafter, the time and location of faults can be determined by a fault isolation scheme via a bank of DSMOs. Finally, the effectiveness of the proposed schemes in controlling, detecting and isolating faults is illustrated by the simulations of two 3-DOF reconfigurable manipulators with different configurations successfully.
Keyword故障诊断 容错控制
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/20330
Collection复杂系统管理与控制国家重点实验室_平行控制
Recommended Citation
GB/T 7714
Zhao B. Multiple faults detection and isolation via decentralized sliding mode observer for reconfigurable manipulator[J]. Journal of Electrical Engineering & Technology,2015,10(6):2393- 2405.
APA Zhao B.(2015).Multiple faults detection and isolation via decentralized sliding mode observer for reconfigurable manipulator.Journal of Electrical Engineering & Technology,10(6),2393- 2405.
MLA Zhao B."Multiple faults detection and isolation via decentralized sliding mode observer for reconfigurable manipulator".Journal of Electrical Engineering & Technology 10.6(2015):2393- 2405.
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