Multiple faults detection and isolation via decentralized sliding mode observer for reconfigurable manipulator | |
Zhao B(赵博)![]() | |
刊名 | Journal of Electrical Engineering & Technology
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2015 | |
卷号 | 10期号:6页码:2393- 2405 |
关键词 | 故障诊断 容错控制 |
英文摘要 |
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. |
内容类型 | 期刊论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/20330] ![]() |
专题 | 复杂系统管理与控制国家重点实验室_平行控制 |
推荐引用方式 GB/T 7714 | Zhao B. Multiple faults detection and isolation via decentralized sliding mode observer for reconfigurable manipulator[J]. Journal of Electrical Engineering & Technology,2015,10(6):2393- 2405. |
APA | Zhao B.(2015).Multiple faults detection and isolation via decentralized sliding mode observer for reconfigurable manipulator.Journal of Electrical Engineering & Technology,10(6),2393- 2405. |
MLA | Zhao B."Multiple faults detection and isolation via decentralized sliding mode observer for reconfigurable manipulator".Journal of Electrical Engineering & Technology 10.6(2015):2393- 2405. |
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