In this paper, a fault diagnosis (FD) and fault tolerant control (FTC) scheme is proposed for the leader–follower based multiple manipulator system with sensor fault under network communication topology. The learning observer is designed to obtain the fault information when the time-varying sensor fault occurs in follower manipulators. The synchronization error between the leader manipulator and the follower manipulator is defined based on the graph theory. The distributed multiple manipulator synchronization controller is designed for each follower manipulator which contains the value of fault estimation and RBF neural network based approximator. Correspondingly, the stability analysis of the error system is analyzed by the Lyapunov stability theorem. Finally, a simulation example is given to prove the effectiveness of the algorithm.

本文针对网络通信拓扑下具有传感器故障的基于主从跟随的多机械手系统，提出了一种故障诊断（FD）和容错控制（FTC）方案。学习观察者被设计为在随动操纵器中发生时变传感器故障时获取故障信息。基于图论定义引导操纵器和跟随操纵器之间的同步误差。为每个跟随器机械手设计了分布式多机械手同步控制器，该控制器包含故障估计值和基于RBF神经网络的近似器。相应地，利用李雅普诺夫稳定性定理分析误差系统的稳定性。最后，通过仿真实例证明了该算法的有效性。