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

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.

Keywords:

• precise fault-tolerant control
• redundant parallel manipulator
• intelligent cooperative control
• physiological hemostasis

Acknowledgements

This work was supported in part by the Key Project of the National Nature Science Foundation of China (No. 61134009), the National Nature Science Foundation of China (No. 60975059), Support Research Project of National ITER Program (No. 2010GB108004), Specialized Research Fund for the Doctoral Program of Higher Education from Ministry of Education of China (No. 20090075110002), Project of the Shanghai Committee of Science and Technology (Nos. 11XD1400100, 11JC1400200, 10JC1400200 and 10DZ0506500).

Additional information

Notes on contributors

Kuangrong Hao

Kuangrong Hao is a Full Professor at the College of Information Sciences and Technology, Donghua University, Shanghai, China. She obtained her B.S. degree in Mechanical Engineering from Hebei University of Technology, Tianjin, China, in 1984, her M.S. degree from Ecole Normale Supérieur de Cachan, Paris, France, in 1991 and her Ph.D. degree in Mathematics and Computer Science from Ecole Nationale des Ponts et Chaussées, Paris, France, in 1995. She has published more than 100 technical papers and 1 research monograph. Her scientific interests include machine vision and image processing, robot control, intelligent control and digitised textile technology.

Chongbin Guo

Chongbin Guo is a PhD candidate at the College of Information Sciences and Technology, Donghua University, Shanghai, China. Since September 2011, he is a Visiting Scholar at the Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, Canada. He obtained the B.E. degree and B.Com. degree from Naval University of Engineering, Wuhan, China and Wuhan University, Wuhan, China in 2008, respectively. He is an author of more than 12 papers and 7 invention patents. His research interests are artificial intelligence control and robotics.

Yongsheng Ding

Yongsheng Ding is a Full Professor at College of Information Sciences and Technology, Donghua University, Shanghai, China. He obtained the B.S., M.S. and Ph.D. degrees in Electrical Engineering from Donghua University, Shanghai, China in 1989, 1994 and 1998 respectively. From 1996 to 1998, he was a Visiting Scientist at Biomedical Engineering Center, The University of Texas Medical Branch, TX. From March 2003 to May 2003, he was a Senior Visiting Scientist at Ecole Nationale Supérieure des Arts et Industries Textiles, Roubaix, France. From February 2005 to April 2005, he was a Visiting Professor at Department of Electrical and Computer Engineering, Wayne State University, MI. From September 2007 to February 2008, he was a Visiting Professor at Harvard Medical School, Harvard University, MA. He serves as a Senior Member of Institute of Electrical and Electronics Engineers (IEEE). He has published more than 300 technical papers and 5 research monograph/advanced textbooks. His scientific interests include computational intelligence, network intelligence, nature-inspired technologies, bio-computing and bio-informatics, intelligent decision-making, and digitised textile and garment technology.