Dynamic Output Feedback Based Active Decentralized Fault-Tolerant Control for Reconfigurable Manipulator with Concurrent Failures
Li, Yuanchun1; Zhou, Fan1; Zhao, Bo1,2
2015
发表期刊MATHEMATICAL PROBLEMS IN ENGINEERING
文章类型Article
摘要The goal of this paper is to describe an active decentralized fault-tolerant control (ADFTC) strategy based on dynamic output feedback for reconfigurable manipulators with concurrent actuator and sensor failures. Consider each joint module of the reconfigurable manipulator as a subsystem, and treat the fault as the unknown input of the subsystem. Firstly, by virtue of linear matrix inequality (LMI) technique, the decentralized proportional-integral observer (DPIO) is designed to estimate and compensate the sensor fault online; hereafter, the compensated system model could be derived. Then, the actuator fault is estimated similarly by another DPIO using LMI as well, and the sufficient condition of the existence of H-infinity fault-tolerant controller in the dynamic output feedback is presented for the compensated system model. Furthermore, the dynamic output feedback controller is presented based on the estimation of actuator fault to realize active fault-tolerant control. Finally, two 3-DOF reconfigurable manipulators with different configurations are employed to verify the effectiveness of the proposed scheme in simulation. The main advantages of the proposed scheme lie in that it can handle the concurrent faults act on the actuator and sensor on the same joint module, as well as there is no requirement of fault detection and isolation process; moreover, it is more feasible to the modularity of the reconfigurable manipulator.
WOS标题词Science & Technology ; Technology ; Physical Sciences
关键词[WOS]MODULAR MANIPULATORS ; ROBOT MANIPULATORS ; NONLINEAR-SYSTEMS ; ACTUATOR FAULTS ; SENSOR ; DESIGN
收录类别SCI
语种英语
WOS研究方向Engineering ; Mathematics
WOS类目Engineering, Multidisciplinary ; Mathematics, Interdisciplinary Applications
WOS记录号WOS:000352385900001
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/8864
专题复杂系统管理与控制国家重点实验室_平行控制
作者单位1.Changchun Univ Technol, Dept Control Engn, Changchun 130012, Peoples R China
2.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714
Li, Yuanchun,Zhou, Fan,Zhao, Bo. Dynamic Output Feedback Based Active Decentralized Fault-Tolerant Control for Reconfigurable Manipulator with Concurrent Failures[J]. MATHEMATICAL PROBLEMS IN ENGINEERING,2015.
APA Li, Yuanchun,Zhou, Fan,&Zhao, Bo.(2015).Dynamic Output Feedback Based Active Decentralized Fault-Tolerant Control for Reconfigurable Manipulator with Concurrent Failures.MATHEMATICAL PROBLEMS IN ENGINEERING.
MLA Li, Yuanchun,et al."Dynamic Output Feedback Based Active Decentralized Fault-Tolerant Control for Reconfigurable Manipulator with Concurrent Failures".MATHEMATICAL PROBLEMS IN ENGINEERING (2015).
条目包含的文件
条目无相关文件。
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Li, Yuanchun]的文章
[Zhou, Fan]的文章
[Zhao, Bo]的文章
百度学术
百度学术中相似的文章
[Li, Yuanchun]的文章
[Zhou, Fan]的文章
[Zhao, Bo]的文章
必应学术
必应学术中相似的文章
[Li, Yuanchun]的文章
[Zhou, Fan]的文章
[Zhao, Bo]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。