Integrated Sensor Fault Diagnosis and Fault-Tolerant Control for Manipulator
In this paper, an integrated scheme including fault diagnosis and fault-tolerant controller design is proposed for the manipulator system with the sensor fault. Any constant fault or time-varying fault can be estimated by the fault diagnosis scheme based on the adaptive observer rapidly and accurate...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2019-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2019/4751080 |
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| _version_ | 1832555925267808256 |
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| author | Bowen Hong Lina Yao Zhiwei Gao |
| author_facet | Bowen Hong Lina Yao Zhiwei Gao |
| author_sort | Bowen Hong |
| collection | DOAJ |
| description | In this paper, an integrated scheme including fault diagnosis and fault-tolerant controller design is proposed for the manipulator system with the sensor fault. Any constant fault or time-varying fault can be estimated by the fault diagnosis scheme based on the adaptive observer rapidly and accurately, and the designed parameters can be solved by the linear matrix inequality. Using the fault estimation information, a fault-tolerant controller combining the characteristics of the proportional differentiation control and the sliding model control is designed to trace the expected trajectory via the back-stepping method. Finally, the effectiveness of the above scheme is verified by the simulation results. |
| format | Article |
| id | doaj-art-71e570db228542649b4e57ba47dd432b |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2019-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-71e570db228542649b4e57ba47dd432b2025-02-03T05:46:47ZengWileyJournal of Control Science and Engineering1687-52491687-52572019-01-01201910.1155/2019/47510804751080Integrated Sensor Fault Diagnosis and Fault-Tolerant Control for ManipulatorBowen Hong0Lina Yao1Zhiwei Gao2School of Electrical Engineering, Zhengzhou University, Zhengzhou 450001, ChinaSchool of Electrical Engineering, Zhengzhou University, Zhengzhou 450001, ChinaFaculty of Engineering and Environment, University of Northumbria, Newcastle upon Tyne NE2 8ST, UKIn this paper, an integrated scheme including fault diagnosis and fault-tolerant controller design is proposed for the manipulator system with the sensor fault. Any constant fault or time-varying fault can be estimated by the fault diagnosis scheme based on the adaptive observer rapidly and accurately, and the designed parameters can be solved by the linear matrix inequality. Using the fault estimation information, a fault-tolerant controller combining the characteristics of the proportional differentiation control and the sliding model control is designed to trace the expected trajectory via the back-stepping method. Finally, the effectiveness of the above scheme is verified by the simulation results.http://dx.doi.org/10.1155/2019/4751080 |
| spellingShingle | Bowen Hong Lina Yao Zhiwei Gao Integrated Sensor Fault Diagnosis and Fault-Tolerant Control for Manipulator Journal of Control Science and Engineering |
| title | Integrated Sensor Fault Diagnosis and Fault-Tolerant Control for Manipulator |
| title_full | Integrated Sensor Fault Diagnosis and Fault-Tolerant Control for Manipulator |
| title_fullStr | Integrated Sensor Fault Diagnosis and Fault-Tolerant Control for Manipulator |
| title_full_unstemmed | Integrated Sensor Fault Diagnosis and Fault-Tolerant Control for Manipulator |
| title_short | Integrated Sensor Fault Diagnosis and Fault-Tolerant Control for Manipulator |
| title_sort | integrated sensor fault diagnosis and fault tolerant control for manipulator |
| url | http://dx.doi.org/10.1155/2019/4751080 |
| work_keys_str_mv | AT bowenhong integratedsensorfaultdiagnosisandfaulttolerantcontrolformanipulator AT linayao integratedsensorfaultdiagnosisandfaulttolerantcontrolformanipulator AT zhiweigao integratedsensorfaultdiagnosisandfaulttolerantcontrolformanipulator |