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 faulttolerant 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.