%0 Journal Article
%A DU Fei
%A MA Tian-bing
%A QIAN Xing-guang
%A ZHANG Jian-jun
%T Fault-Tolerant Control for Flexible Manipulator Considering Fault of Piezoelectric Sensor Patches
%D 2015
%R 10.13190/j.jbupt.2015.03.006
%J Journal of Beijing University of Posts and Telecommunications
%P 43-49
%V 38
%N 3
%X <p>In order to improve the reliability and stability of vibration control system for flexible manipulator, a fault-tolerant control method including wavelet neural network combined with substituting control technology was proposed to solve the faults problem of piezoelectric sensor in vibration control. Firstly, three kinds of flexible manipulators were designed by pasting different fault piezoelectric patches, then the wavelet packet was used to extract all kinds of fault feature, radial basis function network was used to identify the characteristics. According to the fault type, hardware substituting control or software substituting control based on a new type of nonlinear sliding mode observer was chosen. Finally, fault-tolerant control experimental results showed that the confidence level of sensor fault diagnosis is higher than 0.9 and vibration suppressing effect for first two order modal could reach more than 10 dB through NI CRIO platform.</p>
%U https://journal.bupt.edu.cn/EN/10.13190/j.jbupt.2015.03.006