吉林大学学报(工学版) ›› 2014, Vol. 44 ›› Issue (6): 1729-1735.doi: 10.13229/j.cnki.jdxbgxb201406030

Previous Articles     Next Articles

Online fault estimation based on decentralized fault-tolerant control for reconfigurable manipulators

ZHAO Bo1, 3, LI Cheng-hao2, 3, LI Yuan-chun1, 3   

  1. 1.College of Electrical and Electronic Engineering, Changchun University of Technology, Changchun 130012, China;
    2.Product Development Department, FAW Car Co., Ltd, Changchun 130012, China;
    3.College of Communication Engineering,Jilin University,Changchun 130022, China
  • Received:2013-07-04 Online:2014-11-01 Published:2014-11-01

RICH HTML

0   

PDF (PC)

529

Abstract: To reduce the influence of module joint actuator and sensor failure on the controllability of the reconfigurable manipulator, an online fault estimation method based on the decentralized fault-tolerant control scheme was proposed. Based on the modularized property of the manipulator and Lyapunov stability theory, a decentralized adaptive sliding mode observer is constructed to estimate the actuator and sensor faults adaptively. Meanwhile, the nonlinear terms are approximated or compensated by neural networks. Then, the idea of non-singular fast terminal mode control was employed to achieve decentralized fault-tolerant control. Finally, numerical simulation was carried out for two 3-DOF reconfigurable manipulators with different configurations. The results demonstrate the effectiveness of the proposed fault-tolerant control scheme.

Key words: automatic control technique, reconfigurable manipulators, online fault estimation, decentralized adaptive sliding mode observer, fault tolerant control

CLC Number: 

  • TP24
[1] Paredis C J J, Brown H B, Khosla P K. Rapidly deployable manipulator system[J]. Robotics and Autonomous Systems, 1997, 21(3):289-304.
[2] Brambilla D, Capisani L M, Ferrara A, et al. Fault detection for robot manipulators via second-order sliding modes[J]. IEEE Transactions on Industrial Electronics, 2008, 55(11): 3954-3963.
[3] Yoo S J. Actuator fault detection and adaptive accommodation control of flexible-joint robots[J]. IET Control Theory and Applications, 2012, 6(10): 1497-1507.
[4] Zhao B, Li Y C. Multisensor fault identification scheme based on decentralized sliding mode observers applied to reconfigurable manipulators[J]. Mathematical Problems in Engineering, 2013.doi:10.1155/2013/327916.
[5] Zhang Y W, Ma C. Decentralized fault diagnosis using multiblock kernel independent component analysis[J]. Chemical Engineering Research and Design, 2012, 90(5): 667-676.
[6] Yan R Q, Gao R X, Chen X F. Wavelets for fault diagnosis of rotary machines: A review with applications[J]. Signal Processing, 2014,96(Part A):1-15.
[7] Subrahmanya N, Shin Y C. A data-based framework for fault detection and diagnostics of non-linear systems with partial state measurement[J]. Engineering Applications of Artificial Intelligence, 2013, 26(1):446-455.
[8] Zhao C L, Sun X B, Sun S L, et al. Fault diagnosis of sensor by chaos particle swarm optimization algorithm and support vector machine[J]. Expert Systems with Applications, 2011, 38(8): 9908-9912.
[9] Silva J C D, Saxena A, Balaban E, et al. A knowledge-based system approach for sensor fault modeling, detection and mitigation[J]. Expert Systems with Applications, 2013,39(12): 10977-10989.
[10] Milena P, Rapaic M R, Jelicic Z D, et al. On-line adaptive clustering for process monitoring and fault detection[J]. Expert System with Applications, 2012, 39(11): 10226-10235.
[11] 李英, 朱明超, 李元春. 可重构机械臂模糊神经补偿控制[J]. 吉林大学学报:工学版, 2007, 37(1): 206-211. Li Ying, Zhu Ming-chao, Li Yuan-chun. Neurofuzzy compensation control for reconfigurable manipulator[J]. Journal of Jilin University (Engineering and Technology Edition), 2007, 37(1):206-211.
[12] Zhu M, Li Y. Decentralized adaptive fuzzy sliding mode control for reconfigurable modular manipulators[J]. International Journal of Robust and Nonlinear Control, 2010, 20(4): 472-488.
[1] LI Yuan-chun, ZHOU Fan, MA Tian-hao, ZHAO Bo. Decentralized fault-tolerant control based on multi-step time delay for reconfigurable manipulator with concurrent failures [J]. 吉林大学学报(工学版), 2015, 45(6): 1874-1880.
[2] ZHU Ming-chao,LI Yuan-chun . Decentralized adaptive sliding mode control for reconfigurable manipulators using fuzzy logic
 [J]. 吉林大学学报(工学版), 2009, 39(01): 170-176.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd