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Dynamic Output Feedback Based Active Decentralized Fault-Tolerant Control for Reconfigurable Manipulator with Concurrent Failures
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-03-02
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract 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.
American Psychological Association (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
Modern Language Association (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
American Medical Association (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
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1074054