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
- 발행연도
- 2006.1
- 수록면
- 8 - 17 (10page)
이용수
초록· 키워드
오류제보하기
In this paper, we propose a fault-tolerant control system for the position control and vibration suppression of a flexible arm robot.
The proposed control system has a strain gauge sensor signal observer based on a reaction force observer and detects a fault by monitoring an estimated error. In order to improve the estimation accuracy, the plant parameters included in the sensor signal observer are updated by using the strain gauge sensor signal in normal time through the adaptive law. After fault detection, the proposed control system exchanges the faulty sensor signal for the estimated one and switches to a fault mode controller so as to maintain the stability and the control performance. We confirmed the effectiveness of the proposed control system through several experiments.
The proposed control system has a strain gauge sensor signal observer based on a reaction force observer and detects a fault by monitoring an estimated error. In order to improve the estimation accuracy, the plant parameters included in the sensor signal observer are updated by using the strain gauge sensor signal in normal time through the adaptive law. After fault detection, the proposed control system exchanges the faulty sensor signal for the estimated one and switches to a fault mode controller so as to maintain the stability and the control performance. We confirmed the effectiveness of the proposed control system through several experiments.
목차
ABSTRACT
1. Introduction
2. Mathematical Model of Flexible Arm and Vibration Suppression Control System Configuration
3.Proposed Control System
4. Experimental Results
5. Conclusion
References
저자소개
참고문헌 (9)
참고문헌 신청
[학술지(정기간행물)] - / 2002 / Realization of Fault Tolerant Design Control for the Re-entry Space Vehicle Using -synthesis : 77 ~ 81
[학술지(정기간행물)] - / 1998 / A Design Method for Fault-Tolerant Multivariable Control Systems 34 (9) : 1184 ~ 1190
[학술지(정기간행물)] - / 1999 / Control of Flexible Arms by Bending Moment Considering Second Mode Vibration : 403 ~ 404
[학술지(정기간행물)] - / 1993 / Vibration Control of a 2 Mass Resonant System by the Resonance Ratio Control 113 (10) : 1162 ~ 1169
[학술지(정기간행물)] - / 1993 / Hybrid Position and Force Control without Force Sensor 11 (3) : 468 ~ 476
[학술지(정기간행물)] - / 1998 / A Design Method for Fault-Tolerant Multivariable Control Systems 34 (9) : 1184 ~ 1190
[학술지(정기간행물)] - / 1999 / Control of Flexible Arms by Bending Moment Considering Second Mode Vibration : 403 ~ 404
[학술지(정기간행물)] - / 1993 / Vibration Control of a 2 Mass Resonant System by the Resonance Ratio Control 113 (10) : 1162 ~ 1169
[학술지(정기간행물)] - / 1993 / Hybrid Position and Force Control without Force Sensor 11 (3) : 468 ~ 476
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UCI(KEPA) : I410-ECN-0101-2009-560-015155299