Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure

被引：16

作者：

Zhao, Bo ^{[1
,2
]}

Li, Chenghao ^{[3
]}

Liu, Derong ^{[2
]}

Li, Yuanchun ^{[1
]}

机构：

[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

来源：

PLOS ONE | 2015年 / 10卷 / 07期

基金：

中国国家自然科学基金;

关键词：

FLIGHT CONTROL-SYSTEM; LITHIUM-ION BATTERY; ELECTRIC VEHICLES; DESIGN; ROBOTS; IDENTIFICATION; DIAGNOSIS;

D O I：

10.1371/journal.pone.0129315

中图分类号：

O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];

学科分类号：

07 ; 0710 ; 09 ;

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.

引用

页数：17

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