Multiple faults detection and isolation via decentralized sliding mode observer for reconfigurable manipulator
Zhao B(赵博)
2015
发表期刊Journal of Electrical Engineering & Technology
卷号10期号:6页码:2393- 2405
摘要
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.
关键词故障诊断 容错控制
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/20330
专题复杂系统管理与控制国家重点实验室_平行控制
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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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