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Dynamic Output Feedback Based Active Decentralized Fault-Tolerant Control for Reconfigurable Manipulator with Concurrent Failures
المؤلفون المشاركون
المصدر
Mathematical Problems in Engineering
العدد
المجلد 2015، العدد 2015 (31 ديسمبر/كانون الأول 2015)، ص ص. 1-14، 14ص.
الناشر
Hindawi Publishing Corporation
تاريخ النشر
2015-03-02
دولة النشر
مصر
عدد الصفحات
14
التخصصات الرئيسية
الملخص EN
The goal of this paper is to describe an active decentralized fault-tolerant control (ADFTC) strategy based on dynamic output feedback for reconfigurable manipulators with concurrent actuator and sensor failures.
Consider each joint module of the reconfigurable manipulator as a subsystem, and treat the fault as the unknown input of the subsystem.
Firstly, by virtue of linear matrix inequality (LMI) technique, the decentralized proportional-integral observer (DPIO) is designed to estimate and compensate the sensor fault online; hereafter, the compensated system model could be derived.
Then, the actuator fault is estimated similarly by another DPIO using LMI as well, and the sufficient condition of the existence of H ∞ fault-tolerant controller in the dynamic output feedback is presented for the compensated system model.
Furthermore, the dynamic output feedback controller is presented based on the estimation of actuator fault to realize active fault-tolerant control.
Finally, two 3-DOF reconfigurable manipulators with different configurations are employed to verify the effectiveness of the proposed scheme in simulation.
The main advantages of the proposed scheme lie in that it can handle the concurrent faults act on the actuator and sensor on the same joint module, as well as there is no requirement of fault detection and isolation process; moreover, it is more feasible to the modularity of the reconfigurable manipulator.
نمط استشهاد جمعية علماء النفس الأمريكية (APA)
Li, Yuanchun& Zhou, Fan& Zhao, Bo. 2015. Dynamic Output Feedback Based Active Decentralized Fault-Tolerant Control for Reconfigurable Manipulator with Concurrent Failures. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-14.
https://search.emarefa.net/detail/BIM-1074054
نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)
Li, Yuanchun…[et al.]. Dynamic Output Feedback Based Active Decentralized Fault-Tolerant Control for Reconfigurable Manipulator with Concurrent Failures. Mathematical Problems in Engineering No. 2015 (2015), pp.1-14.
https://search.emarefa.net/detail/BIM-1074054
نمط استشهاد الجمعية الطبية الأمريكية (AMA)
Li, Yuanchun& Zhou, Fan& Zhao, Bo. Dynamic Output Feedback Based Active Decentralized Fault-Tolerant Control for Reconfigurable Manipulator with Concurrent Failures. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-14.
https://search.emarefa.net/detail/BIM-1074054
نوع البيانات
مقالات
لغة النص
الإنجليزية
الملاحظات
Includes bibliographical references
رقم السجل
BIM-1074054
قاعدة معامل التأثير والاستشهادات المرجعية العربي "ارسيف Arcif"
أضخم قاعدة بيانات عربية للاستشهادات المرجعية للمجلات العلمية المحكمة الصادرة في العالم العربي
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