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

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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

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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
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[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.
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