지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 저널정보
- 대한전기학회 Journal of Electrical Engineering & Technology Journal of Electrical Engineering & Technology Vol.10 No.6
- 발행연도
- 2015.11
- 수록면
- 2,393 - 2,405 (13page)
이용수
초록· 키워드
오류제보하기
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.
목차
Abstract
1. Introduction
2. Problem Statement
3. Decentralized Controller Design
4. Fault Detection and Isolation
5. Numerical simulation
6. Conclusions
References
참고문헌 (33)
참고문헌 신청
[학술지(정기간행물)] - Paredis CJJ / 1997 / A rapidly deployable manipulator system / Robot Autonomous Systems 21 (3) : 289 ~ 304
[학술지(정기간행물)] - Melek, W.W / 2003 / Neurofuzzy control of modular and reconfigurable robots / IEEE/ASME transactions on mechatronics 8 (3) : 381 ~ 389
[학술지(정기간행물)] - Biglarbegian, M / 2011 / Design of Novel Interval Type-2 Fuzzy Controllers for Modular and Reconfigurable Robots: Theory and Experiments / IEEE Transactions on Industrial Electronics 58 (4) : 1371 ~ 1384
[학술대회논문] - Melek, W.W / 2005 / Study of the effect of external disturbances on the position control of IRIS modular and reconfigurable manipulator / the Proceeding of 2005 IEEE International Conference on Mechatronics Automation : 144 ~ 147
[학술지(정기간행물)] - Biglarbegian, M / 2010 / On the stability of interval Type-2 TSK fuzzy logic control systems / IEEE Transactions on systems man and Cybernetics part B:Cybernetics 40 (3) : 798 ~ 818
[학술지(정기간행물)] - Melek, W.W / 2003 / Neurofuzzy control of modular and reconfigurable robots / IEEE/ASME transactions on mechatronics 8 (3) : 381 ~ 389
[학술지(정기간행물)] - Biglarbegian, M / 2011 / Design of Novel Interval Type-2 Fuzzy Controllers for Modular and Reconfigurable Robots: Theory and Experiments / IEEE Transactions on Industrial Electronics 58 (4) : 1371 ~ 1384
[학술대회논문] - Melek, W.W / 2005 / Study of the effect of external disturbances on the position control of IRIS modular and reconfigurable manipulator / the Proceeding of 2005 IEEE International Conference on Mechatronics Automation : 144 ~ 147
[학술지(정기간행물)] - Biglarbegian, M / 2010 / On the stability of interval Type-2 TSK fuzzy logic control systems / IEEE Transactions on systems man and Cybernetics part B:Cybernetics 40 (3) : 798 ~ 818
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UCI(KEPA) : I410-ECN-0101-2016-560-002155780