Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure

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	Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure
	Zhao, Bo1,2 ; Li, Chenghao 3; Liu, Derong 2; Li, Yuanchun 1
刊名	PLOS ONE
	2015-07-16
卷号	10 期号:7
英文摘要	This paper considers a decentralized fault tolerant control (DFTC) scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularization property, the actuator failure is estimated by the proposed decentralized sliding mode observer (DSMO). Moreover, the actuator failure can be treated in view of the local joint information, so its control performance degradation is independent of other normal joints. In addition, the presented DFTC scheme is significantly simplified in terms of the structure of the controller due to its dual closed-loop architecture, and its feasibility is highly reflected in the control of reconfigurable manipulators. Finally, the effectiveness of the proposed DFTC scheme is demonstrated using simulations.
WOS标题词	Science & Technology
类目[WOS]	Multidisciplinary Sciences
研究领域[WOS]	Science & Technology - Other Topics
关键词[WOS]	FLIGHT CONTROL-SYSTEM ; LITHIUM-ION BATTERY ; ELECTRIC VEHICLES ; DESIGN ; ROBOTS ; IDENTIFICATION ; DIAGNOSIS
收录类别	SCI
语种	英语
WOS记录号	WOS:000358198200002
公开日期	2015-12-24
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/8887]
专题	复杂系统管理与控制国家重点实验室_平行控制
作者单位	1.Changchun Univ Technol, Dept Control Engn, Changchun, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China 3.FAW Car Co Ltd, Prod Dev Dept, Changchun, Peoples R China
推荐引用方式 GB/T 7714	Zhao, Bo,Li, Chenghao,Liu, Derong,et al. Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure[J]. PLOS ONE,2015,10(7).
APA	Zhao, Bo,Li, Chenghao,Liu, Derong,&Li, Yuanchun.(2015).Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure.PLOS ONE,10(7).
MLA	Zhao, Bo,et al."Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure".PLOS ONE 10.7(2015).