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Physiological hemostasis based intelligent integrated cooperative controller for precise fault-tolerant control of redundant parallel manipulator

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  • Kuangrong Hao
  • Chongbin Guo
  • Yongsheng Ding

Abstract

This paper focuses on precise fault-tolerant control for actual redundant parallel manipulator. Based on kinematic redundancy, some unnoticed influences such as mechanical clearance have been considered to design a more precise and intelligent fault-tolerant plan for actual plants. According to regulation principles in human hemostasis system, a bio-inspired intelligent integrated cooperative controller (BIICC) is developed including system structure, algorithm and step in parameter tuning. The proposed BIICC optimises partial error signal and improves control performance in each sub-channel. Moreover, the new controller transfers and disposes cooperative control signals among different sub-channels to achieve an intelligent integrated fault-tolerant system. The proposed BIICC is applied to an actual 2-DOF (degrees of freedom) redundant parallel manipulator where the feasibility of the new controller is demonstrated. The BIICC is beneficial to control precision and fault-tolerant capability of redundant plant. The improvements are more obvious in cases where extra actuators of redundant manipulator are broken.

Suggested Citation

  • Kuangrong Hao & Chongbin Guo & Yongsheng Ding, 2014. "Physiological hemostasis based intelligent integrated cooperative controller for precise fault-tolerant control of redundant parallel manipulator," International Journal of Systems Science, Taylor & Francis Journals, vol. 45(10), pages 2072-2087, October.
    • Handle: RePEc:taf:tsysxx:v:45:y:2014:i:10:p:2072-2087
    DOI: 10.1080/00207721.2012.762558
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    References listed on IDEAS

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    1. M.K. Singh & D.R. Parhi, 2011. "Path optimisation of a mobile robot using an artificial neural network controller," International Journal of Systems Science, Taylor & Francis Journals, vol. 42(1), pages 107-120.
    2. Yong-Sheng Ding & Xing-Jia Lu & Kuang-Rong Hao & Long-Fei Li & Yi-Fan Hu, 2011. "Target coverage optimisation of wireless sensor networks using a multi-objective immune co-evolutionary algorithm," International Journal of Systems Science, Taylor & Francis Journals, vol. 42(9), pages 1531-1541.
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