考虑传感器故障的PD增益切换柔性臂机器人振动抑制控制

2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02. Pub Date : 2002-12-11 DOI:10.1109/ICIT.2002.1189247

Y. Izumikawa, K. Yubai, T. Hori

{"title":"考虑传感器故障的PD增益切换柔性臂机器人振动抑制控制","authors":"Y. Izumikawa, K. Yubai, T. Hori","doi":"10.1109/ICIT.2002.1189247","DOIUrl":null,"url":null,"abstract":"In this paper, we propose a fault tolerant control system for sensor failures. This system can detect sensor failures by an observer-based fault detector and maintain stability and control performance by interrupting a faulty sensor signal and switching PD gains of the remaining sensors after fault detection. We apply the proposed control system to the vibration suppression control system of a one-link flexible arm robot and confirm the effectiveness of the proposed control system by some experiments.","PeriodicalId":344984,"journal":{"name":"2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02.","volume":"41 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2002-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"13","resultStr":"{\"title\":\"Vibration suppression control of flexible arm robot by PD gain switching considering sensor failure\",\"authors\":\"Y. Izumikawa, K. Yubai, T. Hori\",\"doi\":\"10.1109/ICIT.2002.1189247\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, we propose a fault tolerant control system for sensor failures. This system can detect sensor failures by an observer-based fault detector and maintain stability and control performance by interrupting a faulty sensor signal and switching PD gains of the remaining sensors after fault detection. We apply the proposed control system to the vibration suppression control system of a one-link flexible arm robot and confirm the effectiveness of the proposed control system by some experiments.\",\"PeriodicalId\":344984,\"journal\":{\"name\":\"2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02.\",\"volume\":\"41 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2002-12-11\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"13\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICIT.2002.1189247\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICIT.2002.1189247","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 13

摘要

本文提出了一种传感器故障容错控制系统。该系统通过基于观测器的故障检测器检测传感器故障，通过中断故障传感器信号，并在故障检测后切换其余传感器的PD增益来保持稳定性和控制性能。将所提出的控制系统应用于单连杆柔性臂机器人的振动抑制控制系统，并通过实验验证了所提出控制系统的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Vibration suppression control of flexible arm robot by PD gain switching considering sensor failure

In this paper, we propose a fault tolerant control system for sensor failures. This system can detect sensor failures by an observer-based fault detector and maintain stability and control performance by interrupting a faulty sensor signal and switching PD gains of the remaining sensors after fault detection. We apply the proposed control system to the vibration suppression control system of a one-link flexible arm robot and confirm the effectiveness of the proposed control system by some experiments.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02.

自引率

0.00%

发文量