Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure

• Published in: PloS one Vol. 10; no. 7; p. e0129315
• Main Authors: Zhao, Bo, Li, Chenghao, Liu, Derong, Li, Yuanchun
• Format: Journal Article
• Language: English
• Published: United States Public Library of Science 16.07.2015; Public Library of Science (PLoS)
• Subjects: Actuator failure; Actuators; Algorithms; Artificial Intelligence; Automation; Computer Simulation; Control stability; Control theory; Controllers; Equipment Failure Analysis - statistics & numerical data; Failure; Fault diagnosis; Fault tolerance; Feasibility studies; Humans; International conferences; Kalman filters; Laboratories; Manipulators; Mathematical problems; Modularization; Nonlinear Dynamics; Performance degradation; Product development; Quality Control; Robot arms; Robotics; Robotics - instrumentation; Robots; Sensors; Sliding mode control; Tracking control; Trajectory control
• ISSN: 1932-6203; 1932-6203
• DOI: 10.1371/journal.pone.0129315

This paper considers a decentralized fault tolerant control (DFTC) scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularization property, the actuator failure is estimated by the proposed decentralized sliding mode observer (DSMO). Moreover, the actuator failure can be treated in view of the local joint information, so its control performance degradation is independent of other normal joints. In addition, the presented DFTC scheme is significantly simplified in terms of the structure of the controller due to its dual closed-loop architecture, and its feasibility is highly reflected in the control of reconfigurable manipulators. Finally, the effectiveness of the proposed DFTC scheme is demonstrated using simulations.