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
Source PublicationPLOS ONE
2015-07-16
Volume10Issue:7Pages:e0129315
SubtypeArticle
AbstractThis 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.
KeywordFault Tolerant Control Decentralized Control Sliding Mode Observer Reconfigurable Manipulator
WOS HeadingsScience & Technology
WOS KeywordFLIGHT CONTROL-SYSTEM ; LITHIUM-ION BATTERY ; ELECTRIC VEHICLES ; DESIGN ; ROBOTS ; IDENTIFICATION ; DIAGNOSIS
Indexed BySCI
Language英语
WOS Research AreaScience & Technology - Other Topics
WOS SubjectMultidisciplinary Sciences
WOS IDWOS:000358198200002
Citation statistics
Cited Times:16[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/8887
Collection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
Affiliation1.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 AffilicationInstitute 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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