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| 考虑多传感器故障的可重构机械臂主动取代分散容错控制 | |
| 引用本文： | 赵博,李元春.考虑多传感器故障的可重构机械臂主动取代分散容错控制[J].控制与决策,2014,29(2):226-230. |
| 作者姓名： | 赵博 李元春 |
| 作者单位： | 1. 吉林大学 a. 汽车仿真与控制国家重点实验室，b. 控制科学与工程系，长春130022 2. 长春工业大学 控制工程系，长春130012 |
| 基金项目： | 国家自然科学基金面上项目(61374051, 60974010)；吉林省科技发展计划项目(20110705). |
| 摘 要： | 针对可重构机械臂系统位置传感器和速度传感器多故障, 提出一种主动取代分散容错控制方法. 基于可重构机械臂的模块化属性, 设计正常工作模式下的分散神经网络控制器. 利用微分同胚原理将子系统结构进行非线性变换, 将传感器故障转化成伪执行器故障, 设计分散滑模观测器以对多传感器故障进行实时检测, 并利用其输出信号取代故障传感器信号, 实现了多传感器故障情形下可重构机械臂的主动容错控制. 仿真结果表明了所设计的容错控制方法的有效性. |
| 关 键 词： | 可重构机械臂 多传感器故障 分散滑模观测器 分散容错控制 主动取代 |
| 收稿时间： | 2012-10-23 |
| 修稿时间： | 2013/4/16 0:00:00 |
Active substituting decentralized fault-tolerant control for reconfigurable manipulators with multi-sensor failures |
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| ZHAO Bo LI Yuan-chun.Active substituting decentralized fault-tolerant control for reconfigurable manipulators with multi-sensor failures[J].Control and Decision,2014,29(2):226-230. | |
| Authors: | ZHAO Bo LI Yuan-chun |
| Affiliation: | 1a. State Key Laboratory of Automotive Simulation and Control，1b. Department of Control Science and Engineering，Jilin University，Changchun 130022 2. Department of Control Engineering，Changchun University of Technology，Changchun 130012 |
| Abstract: | An active substituting decentralized fault tolerant control scheme is established for reconfigurable manipulatorswith position and velocity multi-sensor failures. A decentralized neural network controller is presented at the normal workingstate based on the reconfigurable manipulators’ modularity property. The sensor fault is transformed into the pseudoactuator fault scenario by constructing a nonlinear transformation for subsystem structure with diffeomorphism theory, and decentralized sliding mode observers are designed for detecting multi-sensor failures in real time, then the fault signals are substituted with the output of the observers to realize active fault-tolerant control for reconfigurable manipulators under the multi-sensor fault state. Simulation results show the effectiveness of the proposed scheme. |
| Keywords: | reconfigurable manipulators multi-sensor failures decentralized sliding mode observer decentralized faulttolerant control active substituting |
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