| Title: | GS7-4 Self-tuned Local Feedback Gain Based Decentralized Fault Tolerant Control of Reconfigurable Manipulators |
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| Publication: | ICAROB2016 |
| Volume: | 21 |
| Pages: | 302-306 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2016.GS7-4 |
| Author(s): | Bo Zhao, Bo Dong, Yan Li, Fumitoshi Matsuno, Yuanchun Li |
| Publication Date: | January 29, 2016 |
| Keywords: | Fault tolerant control, Decentralized control, Neural networks, Partial loss of effectiveness, Reconfigurable manipulators |
| Abstract: | This paper investigates the decentralized fault tolerant control (DFTC) scheme based on self-tuned local feedback gain to against partial loss of actuator effectiveness of reconfigurable manipulators. Consider the entire system as a set of interconnected subsystems due to its modularity property, the decentralized control method is proposed by employing two neural networks for the system fault-free. For the subsystem suffers to partial loss of actuator effectiveness, the self-tuned local feedback gain is added to the proposed decentralized control method to guarantee the control performance. Finally, a simulation example is provided to demonstrate the effectiveness of the present DFTC scheme. The main contributions of this method are: i) The fault tolerant control structure is simple since it is no need to be redesigned in the presence of partial loss of actuator effectiveness; ii) The actuator fault can be handled in its local subsystem, it implies that the performance degradation of the faulty subsystem can not affect the fault-free subsystems. |
| PDF File: | https://alife-robotics.co.jp/members2016/icarob/data/papers/GS/GS7-4.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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