Active Fault Tolerant Control System Design for Hydraulic Manipulator With Internal Leakage Faults Based on Disturbance Observer and Online Adaptive Identification

被引:25
作者
Dao, Hoang Vu [1 ]
Tran, Duc Thien [2 ]
Ahn, Kyoung Kwan [3 ]
机构
[1] Univ Ulsan, Grad Sch Mech Engn, Ulsan 44610, South Korea
[2] Ho Chi Minh City Univ Technol & Educ, Dept Automat Control, Ho Chi Minh City 700000, Vietnam
[3] Univ Ulsan, Sch Mech Engn, Ulsan 44610, South Korea
来源
IEEE ACCESS | 2021年 / 9卷
基金
新加坡国家研究基金会;
关键词
Actuators; Uncertainty; Adaptation models; Manipulators; Electrohydraulics; Servomotors; Friction; Fault-tolerant control (FTC); disturbance observer (DOB); online identification; hydraulic manipulator; internal leakage fault; SLIDING MODE CONTROL; TRACKING CONTROL; ROBUST-CONTROL; ACTUATION SYSTEM; CONTROL SCHEME; DIAGNOSIS; VALVES;
D O I
10.1109/ACCESS.2021.3053596
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, an active fault-tolerant control (FTC) system design is proposed for an n-degree-of-freedom (n-DOF) hydraulic manipulator with internal leakage faults and mismatched/matched lumped disturbances. A pair of matched and mismatched disturbance observers (DOBs) is proposed to simultaneously estimate and compensate for the effects of matched/mismatched disturbances on the control system in healthy conditions. The fault detection is achieved when the estimated matched disturbance is larger than a threshold. After that, a novel control reconfiguration law is designed to switch from a normal controller to a fault-tolerant controller with an online identification algorithm based on an adaptive mechanism. The proposed active FTC guarantees the position tracking performance in not only single-fault but also simultaneous-faults conditions. Moreover, the problem of uniting disturbance-observer-based control for external disturbance and adaptive control for parametric uncertainty is solved in a novel approach. Simulation results are conducted in a two-degree-of-freedom hydraulic leg prototype, which verifies the effectiveness of the proposed method.
引用
收藏
页码:23850 / 23862
页数:13
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