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Języki publikacji
Abstrakty
This paper presents a fault-tolerant control system for a hexapod mobile robot. First, a description of the dynamic model of the hexapod mobile robot by a system of differential equations is made and after that, a representation of the system in state variable space is obtained. A fault detection and identification algorithm is proposed. The modality used here is an analytical redundant process, which supposes that the processing of the information is made at a superior level for the identification of the changes due to the faults. By this method, the actualized model obtained by the on-line identification of the system, is permanent compared with nominal model (without faults). The adaptive control system for uncertain nonlinear systems proposed here has two main blocks: adaptation mechanism block which implements the mathematical model of the adaptation error and control law accommodation block which changes the characteristics of the control law. Finally, the authors propose the hexapod mobile robot which is open to fault events, to be a variable structure system and analyze a specific control method.
Słowa kluczowe
Czasopismo
Rocznik
Tom
Strony
80--85
Opis fizyczny
Bibliogr. 27 poz., rys.
Twórcy
autor
autor
- CCMR Craiova-University of Craiova, Mechatronics Department, 107, Decebal Street, 200440, Craiova, ROMANIA, cristina@robotics.ucv.ro
Bibliografia
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- 3. Tsai C. R., Lee T. T., Song S.M. (1997), Fuzzy Logic Control of a Planetary Gear Type Walking Machine Leg, Robotica Journal, 15, 533-546.
- 4. Song J., Low K.H., Guo W. (1997), A Simplified Hybrid Force/Position Controller Method for the Walking Robots, Robotica Journal, 175, 583-589.
- 5. Brooks R.A. (1989), A Robot that Walks; Emergent Behaviors from a Carefully Evolved Network, A.I. Memo 1091, Artificial Intelligence Laboratory, MIT.
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- 7. Blanke M., Kinnaert M., Lunze J., Staroswiecki M. (2003), Diagnosis and Fault Tolerant Control, Springer-Verlag, Berlin-Heidelberg, Germany.
- 8. Zhang Y. M., Jiang J. (2003), Bibliographical Review on Reconfigurable Fault-Tolerant Control Systems, Proc. of IFAC Symp. SAFEPROCESS’03, Washington, DC, 265-276.
- 9. Patton R. J. (1997), Fault tolerant control: the 1997 situation, Proceedings of IFAC Symposium on Fault detection, supervision and safety for technical processes, Hull, UK, 1033-1055.
- 10. Blanke M., Frei C., Kraus F., Patton R. J., Staroswiecki M. (2000), What is fault tolerant control?, Proceedings of the 4th IFAC Symposium on Fault detection, supervision and safety for the technical process, Budapest, Hungary, 40-51.
- 11. Wang H., Wang Y. (2001), Neural-network-based fault-tolerant control of unknown nonlinear systems, IEE Proc. Control Theory Appl., 146 (5), 389-398.
- 12. Iichman H. (1993), Non-identifier-based high-gain adaptive control, Chapter 5, Springer-Verlag, London.
- 13. Kabore P., Wang H. (2001), Design of faults diagnosis filters and fault tolerant control for a class of non-linear systems, IEEE Trans. Autom. Control, 46(11), 1805-1809.
- 14. Polycarpou M. M. (2001), Fault accommodation of a class of multivariable nonlinear dynamical systems using a learning approach, IEEE Trans. Autom. Control, 46(11), 736-742.
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- 19. Zhihua Q., Ihlefeld C., Yufang M. J., Apiwat A. S. (2003), Robust fault-tolerant self-recovering control of nonlinear uncertain systems, Automatica Journal, 39(10), 1763-1771.
- 20. Steward D. V. (1962), On an approach to techniques for the analysis of the structure of large systems of equations, SIAM Revue, 4, 321-342.
- 21. Lin C. T. (2001), Structural controllability, IEEE Trans. Autom. Cont., AC-19(3), 201-208.
- 22. Murota K. (1987), Systems analysis by graphs and matroids. Structural solvability and controllability, Springer-Verlag, Berlin.
- 23. Meyer M., Le Lann J.-M., Koehret B., Enjalbert M. (1994), Optimal selection of sensor location on a complex plant using a graph oriented approach, Computer Chemistry Engineering, 18, S535-S540.
- 24. Pana C. F., Stoian V., Pana D. M. (2008), Dynamic Model of n-legged Robot, Proceedings of the 3rd International Conference on Optimization of the Robots and Manipulators”- OPTIROB, Predeal, Romania.
- 25. Ivanescu M. (1994), Industrial Robots, Ed. Universitaria, Craiova, Romania.
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- 27. Willsky A.S. (1976), A Survey of Design Methods for Failure Detection in Dynamic Systems, Automatica Journal, (1976), Vol. 12, 601-611.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-article-BPB2-0033-0019