Dynamic Output Feedback Based Active Decentralized Fault-Tolerant Control for Reconfigurable Manipulator with Concurrent Failures

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

	Dynamic Output Feedback Based Active Decentralized Fault-Tolerant Control for Reconfigurable Manipulator with Concurrent Failures
	Li, Yuanchun 1; Zhou, Fan 1; Zhao, Bo1,2
发表期刊	MATHEMATICAL PROBLEMS IN ENGINEERING
	2015
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	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
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).