Multisensor Fault Identification Scheme Based on Decentralized Sliding Mode Observers Applied to Reconfigurable Manipulators

Abstract EN

This paper concerns with a fault identification scheme in a class of nonlinear interconnected systems.

The decentralized sliding mode observer is recruited for the investigation of position sensor fault or velocity sensor fault.

First, a decentralized neural network controller is proposed for the system under fault-free state.

The diffeomorphism theory is utilized to construct a nonlinear transformation for subsystem structure.

A simple filter is implemented to convert the sensor fault into pseudo-actuator fault scenario.

The decentralized sliding mode observer is then presented for multisensor fault identification of reconfigurable manipulators based on Lyapunov stable theory.

Finally, two 2-DOF reconfigurable manipulators with different configurations are employed to verify the effectiveness of the proposed scheme in numerical simulation.

The results demonstrate that one joint’s fault does not affect other joints and the sensor fault can be identified precisely by the proposed decentralized sliding mode observer.