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Mathematical Problems in Engineering
Volume 2013, Article ID 327916, 9 pages
Research Article

Multisensor Fault Identification Scheme Based on Decentralized Sliding Mode Observers Applied to Reconfigurable Manipulators

Bo Zhao1,2 and Yuanchun Li1,3

1State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
2Department of Control Science and Engineering, Jilin University, Changchun 130022, China
3Department of Control Engineering, Changchun University of Technology, Changchun 130012, China

Received 8 November 2012; Revised 21 February 2013; Accepted 7 March 2013

Academic Editor: Tsung-Chih Lin

Copyright © 2013 Bo Zhao and Yuanchun Li. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper concerns with a fault identification scheme in a class of nonlinear interconnected systems. The decentralized sliding mode observer is recruited for the investigation of position sensor fault or velocity sensor fault. First, a decentralized neural network controller is proposed for the system under fault-free state. The diffeomorphism theory is utilized to construct a nonlinear transformation for subsystem structure. A simple filter is implemented to convert the sensor fault into pseudo-actuator fault scenario. The decentralized sliding mode observer is then presented for multisensor fault identification of reconfigurable manipulators based on Lyapunov stable theory. Finally, two 2-DOF reconfigurable manipulators with different configurations are employed to verify the effectiveness of the proposed scheme in numerical simulation. The results demonstrate that one joint’s fault does not affect other joints and the sensor fault can be identified precisely by the proposed decentralized sliding mode observer.