KLI

Active Fault Tolerant Control System Design for Hydraulic Manipulator With Internal Leakage Faults Based on Disturbance Observer and Online Adaptive Identification

Metadata Downloads
Alternative Title
Active Fault Tolerant Control System Design for Hydraulic Manipulator With Internal Leakage Faults Based on Disturbance Observer and Online Adaptive Identification
Abstract
In this paper, an active fault-tolerant control system design is proposed for an n-degree-of-freedom hydraulic manipulator with internal leakage faults and mismatched/matched lumped disturbances. A pair of matched and mismatched disturbance observers is proposed to simultaneously estimate and compensate for the effects of matched/mismatched disturbances on the control system in healthy conditions. The fault detection is achieved when the estimated matched disturbance is larger than a threshold. After that, a novel control reconfiguration law is designed to switch from a normal controller to a fault-tolerant controller with an online identification algorithm based on an adaptive mechanism. The proposed active FTC guarantees the position tracking performance in not only single-fault but also simultaneous-faults conditions. Moreover, the problem of uniting disturbance-observer-based control for external disturbance and adaptive control for parametric uncertainty is solved in a novel approach. Simulation results are conducted in a two-degree-of-freedom hydraulic leg prototype, which verifies the effectiveness of the proposed method.
Author(s)
다오 호앙 부안경관쩐 득 티엔
Issued Date
2021
Type
Article
Keyword
Fault-tolerant controldisturbance observeronline identificationhydraulic manipulatorinternal leakage fault
DOI
10.1109/ACCESS.2021.3053596
URI
https://oak.ulsan.ac.kr/handle/2021.oak/8846
https://ulsan-primo.hosted.exlibrisgroup.com/primo-explore/fulldisplay?docid=TN_cdi_ieee_primary_9333569&context=PC&vid=ULSAN&lang=ko_KR&search_scope=default_scope&adaptor=primo_central_multiple_fe&tab=default_tab&query=any,contains,Active%20Fault%20Tolerant%20Control%20System%20Design%20for%20Hydraulic%20Manipulator%20With%20Internal%20Leakage%20Faults%20Based%20on%20Disturbance%20Observer%20and%20Online%20Adaptive%20Identification&offset=0&pcAvailability=true
Publisher
IEEE ACCESS
Location
미국
Language
영어
ISSN
2169-3536
Citation Volume
9
Citation Number
1
Citation Start Page
23850
Citation End Page
23862
Appears in Collections:
Engineering > Mechanical and Automotive Engineering
Authorize & License
  • Authorize공개
Files in This Item:
  • There are no files associated with this item.

Items in Repository are protected by copyright, with all rights reserved, unless otherwise indicated.