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JRM Vol.11 No.6 pp. 524-530
doi: 10.20965/jrm.1999.p0524
(1999)

Paper:

Intelligent Sensor Fault Detection of Vibration Control for Flexible Structures

Masahiro Isogai*, Fumihito Arai** and Toshio Fukuda***

*Yamazaki Mazak Corporation, Oguchi-cho, Niwa-gun, Aichi prefecture 460-0197, Japan

**Department of Micro System Engineering, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-8601, Japan

***Center for Cooperative Research in Advanced Science & Technology, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-8601, Japan

Received:
May 12, 1999
Accepted:
August 11, 1999
Published:
December 20, 1999
Keywords:
vibration control, flexible structures, fault-tolerant system, neural network, adaptive control, fault detection, inverse dynamics
Abstract

Vibration control for flexible structures such as arms and space structures has been widely studied. We proposed model-based decentralized control for flexible structures by decoupling mode quantities of other links. If a failure occurs, control performance drops due to parameter error between the model and plant. We must consider device fault detection and controller reconfiguration. We propose a fault-tolerant system using inverse dynamics constructed by neural network for sensor fault detection and NN adaptive control for the actuator fault to reconfigure control to compensate for parameter changes due to actuator faults. The effectiveness of our proposal is shown through simulation.

Cite this article as:
Masahiro Isogai, Fumihito Arai, and Toshio Fukuda, “Intelligent Sensor Fault Detection of Vibration Control for Flexible Structures,” J. Robot. Mechatron., Vol.11, No.6, pp. 524-530, 1999.
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