| 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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| Source Publication | PLOS ONE
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| 2015-07-16 | |
| Volume | 10Issue:7Pages:e0129315 |
| Subtype | Article |
| Abstract | 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. |
| Keyword | Fault Tolerant Control Decentralized Control Sliding Mode Observer Reconfigurable Manipulator |
| WOS Headings | Science & Technology |
| WOS Keyword | FLIGHT CONTROL-SYSTEM ; LITHIUM-ION BATTERY ; ELECTRIC VEHICLES ; DESIGN ; ROBOTS ; IDENTIFICATION ; DIAGNOSIS |
| Indexed By | SCI |
| Language | 英语 |
| WOS Research Area | Science & Technology - Other Topics |
| WOS Subject | Multidisciplinary Sciences |
| WOS ID | WOS:000358198200002 |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.ia.ac.cn/handle/173211/8887 |
| Collection | 复杂系统管理与控制国家重点实验室_复杂系统智能机理与平行控制团队 |
| Affiliation | 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 |
| First Author Affilication | Institute of Automation, Chinese Academy of Sciences |
| Recommended Citation 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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| File Name/Size | DocType | Version | Access | License | ||
| Decentralized Slidin（652KB） | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | View Download | |
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