liyuanchun
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- Name (Pinyin):liyuanchun
- Date of Birth:1962-04-08
- E-Mail:
- Teacher College:电气与电子工程学院
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- Paper Publications
【SCI】Multiple Faults Detection and Isolation via Decentralized Sliding Mode Observer for Reconfigurable Manipulator
Release time:2021-09-08 Hits:
- Affiliation of Author(s):电气与电子工程学院
- Teaching and Research Group:自动化
- Journal:Journal of Electrical engineering & technology
- Funded by:国家自然科学基金项目
- Key Words:incipient sensor faults; distributed control; robot manipulators; nonlinear-systems; torerant control; diagnosis; schemes; design
- Abstract:This paper considers a decentralized multiple faults detection and isolation (FDI) scheme for reconfigurable manipulators. Inspired by their modularization property, a global sliding mode (GSM) based stable adaptive fuzzy decentralized controller is investigated for the system in fault free, while for the system suffering from multiple faults (actuator fault and sensor fault), the decentralized sliding mode observer (DSMO) is employed to detect their occurrence. Hereafter, the time and location of faults can be determined by a fault isolation scheme via a bank of DSMOs. Finally, the effectiveness of the proposed schemes in controlling, detecting and isolating faults is illustrated by the simulations of two 3-DOF reconfigurable manipulators with different configurations successfully.
- Co-author:赵博,李成浩,马天豪,李元春
- First Author:liyuanchun
- Indexed by:Journal paper
- Volume:10
- Issue:6
- Page Number:1
- Number of Words:1
- Translation or Not:no
- Date of Publication:2015-11-05