Weng Zheng-xin

Novel active fault-tolerant control scheme and its application to a double inverted pendulum system

Abstract On the basis of the gain-scheduled H∞ design strategy, a novel active fault-tolerant control scheme is proposed. Under the assumption that the effects of faults on the state-space matrices of systems can be of affine parameter dependence, a reconfigurable robust H∞ linear parameter varying controller is developed. The designed controller is a function of the fault effect factors that can be derived online by using a well-trained neural network. To demonstrate the effectiveness of the proposed method, a double inverted pendulum system, with a fault in the motor tachometer loop, is considered.

An Active Fault Tolerant Controller Design Method for Time-delay Systems

In this paper, we propose an active fault tolerant control (FTC) design method for time-delay systems. Based on generalized internal model control (GIMC), the feedback controller architecture includes two parts: one part for performance and the other part for robustness. The feedback control system will be solely controlled by the performance controller when there is no fault and the robustification controller will be active when there are faults.

A motion simulation for Dual-arm robot based on the state-space method

The research and development of dual-arm robot is a new direction of the robot industry development. Relative to the single arm robot, it not only can greatly enhance the adaptability for complex work, but also can improve the efficiency of work space [1]. In this paper, the kinematics equation of the end of the arm is deduced using the D-H method. Then the control algorithm based on the state space method is used to prevent movement interference in the process of arm movement. Finally, the displacement curve of end of arm can be got through the simulation of MATLAB using control algorithm. The effectiveness of the control algorithm can be judged.