Multisensor fault identification scheme based on decentralized sliding mode observers applied to reconfigurable manipulators

DOI10.1155/2013/327916MaRDI QIDQ460466zbMATH OpenOpenAlexWikidataFDO

Authors Bo Zhao, Yuanchun Li

Publication date 13 October 2014

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1155/2013/327916

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Estimation and detection in stochastic control theory (93E10)

Review text

Summary: This paper concerns with a fault identification scheme in a class of nonlinear interconnected systems. The decentralized sliding mode observer is recruited for the investigation of position sensor fault or velocity sensor fault. First, a decentralized neural network controller is proposed for the system under fault-free state. The diffeomorphism theory is utilized to construct a nonlinear transformation for subsystem structure. A simple filter is implemented to convert the sensor fault into pseudo-actuator fault scenario. The decentralized sliding mode observer is then presented for multisensor fault identification of reconfigurable manipulators based on Lyapunov stable theory. Finally, two 2-DOF reconfigurable manipulators with different configurations are employed to verify the effectiveness of the proposed scheme in numerical simulation. The results demonstrate that one joint's fault does not affect other joints and the sensor fault can be identified precisely by the proposed decentralized sliding mode observer.

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Cites work

• An integrated fault diagnosis and safe-parking framework for fault-tolerant control of nonlinear systems
• scientific article; zbMATH DE number 821258 (Why is no real title available?)
• Isolation and handling of actuator faults in nonlinear systems
• Sensor bias fault isolation in a class of nonlinear systems
• Sliding mode estimation schemes for incipient sensor faults

Cited in

(7)

• Dynamic output feedback based active decentralized fault-tolerant control for reconfigurable manipulator with concurrent failures
• Robust decentralized force/position fault-tolerant control for constrained reconfigurable manipulators without torque sensing
• Development of fault identification system for electric servo actuators of multilink manipulators using logic-dynamic approach
• Sliding mode observers based-simultaneous actuator and sensor faults estimation for linear parameter varying systems
• Robust decentralized actuator fault detection and estimation for large-scale systems using a sliding mode observer
• Sliding mode fault diagnosis with vision in the loop for robot manipulators
• Sliding mode based fault diagnosis with deep reinforcement learning add‐ons for intrinsically redundant manipulators

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