Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure
Zhao, Bo1,2; Li, Chenghao3; Liu, Derong2; Li, Yuanchun1
2015-07-16
发表期刊PLOS ONE
卷号10期号:7页码:e0129315
文章类型Article
摘要This paper considers a decentralized fault tolerant control (DFTC) scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularization property, the actuator failure is estimated by the proposed decentralized sliding mode observer (DSMO). Moreover, the actuator failure can be treated in view of the local joint information, so its control performance degradation is independent of other normal joints. In addition, the presented DFTC scheme is significantly simplified in terms of the structure of the controller due to its dual closed-loop architecture, and its feasibility is highly reflected in the control of reconfigurable manipulators. Finally, the effectiveness of the proposed DFTC scheme is demonstrated using simulations.
关键词Fault Tolerant Control Decentralized Control Sliding Mode Observer Reconfigurable Manipulator
WOS标题词Science & Technology
关键词[WOS]FLIGHT CONTROL-SYSTEM ; LITHIUM-ION BATTERY ; ELECTRIC VEHICLES ; DESIGN ; ROBOTS ; IDENTIFICATION ; DIAGNOSIS
收录类别SCI
语种英语
WOS研究方向Science & Technology - Other Topics
WOS类目Multidisciplinary Sciences
WOS记录号WOS:000358198200002
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/8887
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, Peoples R China
2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China
3.FAW Car Co Ltd, Prod Dev Dept, Changchun, Peoples R China
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Zhao, Bo,Li, Chenghao,Liu, Derong,et al. Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure[J]. PLOS ONE,2015,10(7):e0129315.
APA Zhao, Bo,Li, Chenghao,Liu, Derong,&Li, Yuanchun.(2015).Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure.PLOS ONE,10(7),e0129315.
MLA Zhao, Bo,et al."Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure".PLOS ONE 10.7(2015):e0129315.
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