CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 平行控制
Dynamic Output Feedback Based Active Decentralized Fault-Tolerant Control for Reconfigurable Manipulator with Concurrent Failures
Li, Yuanchun1; Zhou, Fan1; Zhao, Bo1,2
Source PublicationMATHEMATICAL PROBLEMS IN ENGINEERING
2015
SubtypeArticle
AbstractThe 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 HeadingsScience & Technology ; Technology ; Physical Sciences
WOS KeywordMODULAR MANIPULATORS ; ROBOT MANIPULATORS ; NONLINEAR-SYSTEMS ; ACTUATOR FAULTS ; SENSOR ; DESIGN
Indexed BySCI
Language英语
WOS Research AreaEngineering ; Mathematics
WOS SubjectEngineering, Multidisciplinary ; Mathematics, Interdisciplinary Applications
WOS IDWOS:000352385900001
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/8864
Collection复杂系统管理与控制国家重点实验室_平行控制
Affiliation1.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
Recommended Citation
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).
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