- 【SCI】Multiple Faults Detection and Isolation via Decentralized Sliding Mode Observer for Reconfigurable Manipulator
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- 所属单位：电气与电子工程学院
- 教研室：自动化
- 发表刊物：Journal of Electrical engineering & technology
- 项目来源：国家自然科学基金项目
- 关键字：incipient sensor faults; distributed control; robot manipulators; nonlinear-systems; torerant control; diagnosis; schemes; design
- 摘要：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.
- 合写作者：赵博,李成浩,马天豪,李元春
- 第一作者：李元春
- 论文类型：期刊论文
- 卷号：10
- 期号：6
- 页面范围：1
- 字数：1
- 是否译文：否
- 发表时间：2015-11-05
