Knowledge Commons of Institute of Automation，CAS
| 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
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| 发表期刊 | PLOS ONE
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| 2015-07-16 | |
| 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 | 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, 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 |
| 第一作者单位 | 中国科学院自动化研究所 |
| 推荐引用方式 GB/T 7714 | 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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| Decentralized Slidin（652KB） | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | 浏览 下载 | |
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