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http://dx.doi.org/10.5370/JEET.2015.10.6.2393

Multiple Faults Detection and Isolation via Decentralized Sliding Mode Observer for Reconfigurable Manipulator  

Zhao, Bo (The State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences)
Li, Chenghao (Product Development, FAW Car Co., Ltd)
Ma, Tianhao (Department of Control Science and Engineering, Changchun University of Technology)
Li, Yuanchun (Department of Control Science and Engineering, Changchun University of Technology)
Publication Information
Journal of Electrical Engineering and Technology / v.10, no.6, 2015 , pp. 2393-2405 More about this Journal
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.
Keywords
Reconfigurable manipulator; Multiple faults detection and isolation; Decentralized sliding mode observer; Decentralized control;
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