Publisher : The Korean Institute of Electrical Engineers
DOI : 10.5370/JEET.2015.10.6.2393
Title & Authors
Multiple Faults Detection and Isolation via Decentralized Sliding Mode Observer for Reconfigurable Manipulator Zhao, Bo; Li, Chenghao; Ma, Tianhao; Li, Yuanchun;
This paper considers a decentralized multiple faults detection and isolation (FDI) scheme for reconfigurable manipulators. Inspired by their modularization property, a global sliding mode (GSM) based stable adaptive fuzzy decentralized controller is investigated for the system in fault free, while for the system suffering from multiple faults (actuator fault and sensor fault), the decentralized sliding mode observer (DSMO) is employed to detect their occurrence. Hereafter, the time and location of faults can be determined by a fault isolation scheme via a bank of DSMOs. Finally, the effectiveness of the proposed schemes in controlling, detecting and isolating faults is illustrated by the simulations of two 3-DOF reconfigurable manipulators with different configurations successfully.
Reconfigurable manipulator;Multiple faults detection and isolation;Decentralized sliding mode observer;Decentralized control;
Paredis CJJ, Brown HB and Khosla PK., “A rapidly deployable manipulator system,” Robot Autonomous Systems, vol. 21, no. 3, pp. 289-304, 1997.
Melek, W.W. and Goldenberg, A.A., “Neurofuzzy control of modular and reconfigurable robots,” IEEE/ASME transactions on mechatronics, vol. 8, no. 3, pp. 381-389, 2003.
Biglarbegian, M., Melek, W.W. and Mendel J.M., “Design of Novel Interval Type-2 Fuzzy Controllers for Modular and Reconfigurable Robots: Theory and Experiments,” IEEE Transactions on Industrial Electronics, vol. 58, no. 4, pp. 1371-1384, 2011.
Melek, W.W. and Najjaran, H., “Study of the effect of external disturbances on the position control of IRIS modular and reconfigurable manipulator,” in the Proceeding of 2005 IEEE International Conference on Mechatronics Automation, pp. 144-147, 2005.
Biglarbegian, M., Melek, W. W., Mendel, J. M., “On the stability of interval Type-2 TSK fuzzy logic control systems,” IEEE Transactions on systems man and Cybernetics part B:Cybernetics, vol. 40, no. 3, pp. 798-818, 2010.
Liu, G., Abdul, S. and Goldenberg, A.A., “Distributed control of modular and reconfigurable robot with torque sensing,” Robotica, vol. 26, no. 1, pp. 75-84, 2008.
Terada, Y. and Murata, S., “Automatic modular assembly and its distributed control,” International Journal of Robotics Research, vol. 27, no. 3-4, pp. 445-462, 2008.
Li, Z., Melek, W.W. and Clark, C., “Decentralized robust control of robot manipulators with harmonic drive transmission and application to modular and reconfigurable serial arms,” Robotica, vol. 27, no. 2, pp. 291-302, 2009.
Zhu, M. and Li, Y., “Decentralized adaptive fuzzy sliding mode control for reconfigurable modular manipulators,” International Journal of Robust and Nonlinear Control, vol.20, no.4, pp.472-488, 2010.
Huang, S.T.C., Davison E.J. and Kwong, R.H., “Decentralized robust servomechanism problem for large flexible space structures under sensor and actuator failures,” IEEE Transactions on Automatic Control, vol.57, no.12, pp.3219-3224, 2012.
Kawakita, M., Yubai, K. and Hirai, J., “The multirate sampling control for a reconfigurable robot,” in the Proceeding of 2011 11th International Conference on Control, Automation and Systems, pp.516-521, 2011.
Lau, H.Y.K., Ko, A. and Lau, T.L., “A decentralized control framework for modular robots,” in the Proceedings of 2004 IEEE/RSJ International conference on intelligent robots and systems, pp. 1774-1779, 2004.
Alwi, H, Edwards, C. and Tan, C.P., “Sliding mode estimation schemes for incipient sensor faults,” Automatica, vol. 45, no. 7, pp. 1679-1685, 2009.
Rolf Isermann, “Model-based fault-detection and diagnosis-status and applications,” Annual Reviews in Control, vol. 29, no. 1, pp. 71-85, 2005.
Izumikawa, Y., Yubai, K. and Hirai, J., “Fault-tolerant control system of flexible arm for sensor fault by using reaction force observer,” IEEE/ASME Transactions on Mechatronics, vol.10, no.4, pp.391-396, 2005.
Gao, B., Jiang, B., Qi, R. and Xu, Y., “Robust reliable control for a near space vehicle with parametric uncertainties and actuator faults,” International Journal of Systems Science, vol. 42, no. 12, pp. 2113-2124, 2011.
P. C. Deng, W. H. Gui and Y. F. Xie, “Latent space transformation based on principal component analysis for adaptive fault detection,” IET Control Theory and Applications, vol.4, no.11, pp. 2527-2538, 2010.
Shengfa Yuan and Fulei Chu, “Fault diagnosis based on support vector machines with parameter optimization by artificial immunization algorithm,” Mechanical Systems and Signal Processing, vol. 21, no. 3, pp. 1318-1330, 2007.
Anders Lyhne Christensen, Rehan O’Grady, Mauro Birattari and Marco Dorigo, “Fault detection in autonomous robots based on fault injection and learning,” Autonomous Robot, vol.24, no.1, pp. 49-67, 2008.
Tolga Yuksel, Abdullah Sezgin, “Two fault detection and isolation schemes for robot manipulators using soft computing techniques,” Applied Soft Computing, vol.10, no.1, pp. 125-134, 2010.
Yuan, J., Liu, G.J. and Wu, B., “Power Efficiency Estimation-Based Health Monitoring and Fault Detection of Modular and Reconfigurable Robot”, IEEE Transactions on industrial electronics, vol.58, no.10, pp.4880-4887, 2011.
Ahmad, S., Zhang, H. and Liu, G., “Distributed fault detection for modular and reconfigurable robots with joint torque sensing: a prediction error based approach,” Mechatronics, vol. 23, no. 6, pp. 607-616, 2013.
Yuan, S., and Liu, X., “Fault estimator design for a class of switched systems with time-varying delay,” International Journal of Systems Science, vol. 42, no. 12, pp. 2125-2135, 2011.
Bo Zhao and Yuanchun Li. “Local joint information based active fault tolerant control for reconfigurable manipulator,” Nonlinear Dynamics, vol. 77, no. 3, pp. 859-876, 2014.
C. P. Tan and C. Edwards, “Sliding mode observers for detection and reconstruction of sensor faults,” Automatica, vol. 38, no. 10, pp. 1815-1821, 2002.
Qing Wu, Mehrdad Saif, “Robust fault diagnosis of a satellite system using a learning strategy and second order sliding mode observer,” IEEE Systems Journal, vol. 4, no. 1, pp. 112-121, 2010.
Xing-Gang Yan and Christopher Edwards, “Sensor fault detection and isolation for nonlinear systems based on a sliding mode observer”, International Journal of Adaptive Control and Signal Processing, vol. 21, no. 8-9, pp. 657-673, 2007.
J. Zhang, A.K. Swain and S.K.Nguang, “Detection and isolation of incipient sensor faults for a class of uncertain non-linear systems,” IET Control Theory and Applications, vol. 6, no. 12, pp. 1870-1880, 2012.
Coradini, M.L., Orlando, G., “Linear unstable plants with saturating actuators: Robust stabilization by a time varying sliding surface,” Automatica, vol. 43, no. 1, pp. 88-94, 2007.
Karbasi, H., Huissoon, J. P. and Khajepour, A., “Blend of independent joint control and variable structure systems for uni-drive modular robots,” Robotica, vol. 28, no. 1, pp. 149-159, 2010.
Zhao, B. and Li, Y.C., "Multisensor fault identification scheme based on decentralized sliding mode observers applied to reconfigurable manipulators," Mathematical Problems in Engineering, http://dx.doi.org/10.1155/2013/327916, 2013.
Efimov, D. and Fridman, L., “Global sliding-mode observer with adjusted gains for locally Lipschitz systems,” Automatica, vol. 47, no. 3, pp. 565-570, 2011.
Liu, L., Han, Z. and Li, W., “Global sliding mode control and application in chaotic systems”, Nonlinear Dynamics, vol. 56, no. 1-2, pp. 193-198, 2009.