Multiple faults detection and isolation via decentralized sliding mode observer for reconfigurable manipulator

CASIA OpenIR > 多模态人工智能系统全国重点实验室 > 复杂系统智能机理与平行控制团队

	Multiple faults detection and isolation via decentralized sliding mode observer for reconfigurable manipulator
	Zhao B(赵博)
发表期刊	Journal of Electrical Engineering & Technology
	2015
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	多模态人工智能系统全国重点实验室_复杂系统智能机理与平行控制团队
推荐引用方式 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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Multiple Faults Dete（937KB）	期刊论文	作者接受稿	开放获取	CC BY-NC-SA	浏览