title: Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure.
abstract: 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.
authors.affiliation: Department of Control Engineering, Changchun University of Technology, Changchun, China; State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China.
authors.forename: Bo
authors.initials: B
authors.lastname: Zhao
authors.affiliation: Product Development Department, FAW Car Co., Ltd, Changchun, China.
authors.forename: Chenghao
authors.initials: C
authors.lastname: Li
authors.affiliation: State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China.
authors.forename: Derong
authors.initials: D
authors.lastname: Liu
authors.affiliation: Department of Control Engineering, Changchun University of Technology, Changchun, China.
authors.forename: Yuanchun
authors.initials: Y
authors.lastname: Li
mesh_terms: D000465:Algorithms; D001185:Artificial Intelligence; D003198:Computer Simulation; D019544:Equipment Failure Analysis / Q000706:statistics & numerical data*; D006801:Humans; D017711:Nonlinear Dynamics; D011786:Quality Control; D012371:Robotics / Q000295:instrumentation*