FAULT-TOLERANT SYNCHRONIZED MOTION CONTROL FOR CRANE SYSTEM USING WIRELESS SENSOR NETWORKS

Abstract This paper presents a fault-tolerant control strategy to accommodate faulty actuators in a crane system using wireless communications. The proposed control system contains several intelligent nodes which are interconnected by a wireless sensor network. A time-triggered protocol implemented on top of IEEE802.15.4 is employed to avoid the problems with randomly varying message latency and the “hidden terminal.” The reconfiguration strategy to tolerate faulty actuators is based on an IMC-PID controller of which parameters are adjusted online through an iterative optimization process using the diagnostic information being generated by smart actuators. The effectiveness of the proposed approach in the presence of actuator fault is demonstrated using a DC-motor based experimental system.

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