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Fault-tolerant control scheme for manipulator with actuator and sensor failure

Fault-tolerant control scheme for manipulator with actuator and sensor failure The fault control for manipulator with actuator and sensor faults is investigated. For actuator fault, a fault observer is designed based on multivariable second order sliding mode to estimate this fault information in finite time. Then, the estimated values are incorporated into continuous controller to compensate the real actuator fault. In presence of both actuator and position (or velocity) sensor faults, the failure sensor is discarded and a state observer is designed using second order sliding mode to estimate the position (or velocity) information in finite time. Meanwhile, the actuator fault is reconstructed through equivalent control method when the sliding mode motion is achieved. The effectiveness of the proposed fault control scheme is verified in simulation. Keywords: multivariable control; finite time convergence; manipulator with actuator and sensor fault. Reference to this paper should be made as follows: Tian, B., Wang, Z., Yan, X. and Wang, H. (2015) `Fault-tolerant control scheme for manipulator with actuator and sensor failure', Int. J. Advanced Mechatronic Systems, Vol. 6, No. 4, pp.166-173. Biographical notes: Bailing Tian received his BS, MS and PhD in Automatic Control from Tianjin University, Tianjin China in 2006, 2008 and 2011, respectively. Since 2011, he has been with School http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Advanced Mechatronic Systems Inderscience Publishers

Fault-tolerant control scheme for manipulator with actuator and sensor failure

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Publisher
Inderscience Publishers
Copyright
Copyright © 2015 Inderscience Enterprises Ltd.
ISSN
1756-8412
eISSN
1756-8420
DOI
10.1504/IJAMECHS.2015.072706
Publisher site
See Article on Publisher Site

Abstract

The fault control for manipulator with actuator and sensor faults is investigated. For actuator fault, a fault observer is designed based on multivariable second order sliding mode to estimate this fault information in finite time. Then, the estimated values are incorporated into continuous controller to compensate the real actuator fault. In presence of both actuator and position (or velocity) sensor faults, the failure sensor is discarded and a state observer is designed using second order sliding mode to estimate the position (or velocity) information in finite time. Meanwhile, the actuator fault is reconstructed through equivalent control method when the sliding mode motion is achieved. The effectiveness of the proposed fault control scheme is verified in simulation. Keywords: multivariable control; finite time convergence; manipulator with actuator and sensor fault. Reference to this paper should be made as follows: Tian, B., Wang, Z., Yan, X. and Wang, H. (2015) `Fault-tolerant control scheme for manipulator with actuator and sensor failure', Int. J. Advanced Mechatronic Systems, Vol. 6, No. 4, pp.166-173. Biographical notes: Bailing Tian received his BS, MS and PhD in Automatic Control from Tianjin University, Tianjin China in 2006, 2008 and 2011, respectively. Since 2011, he has been with School

Journal

International Journal of Advanced Mechatronic Systems – Inderscience Publishers

Published: Jan 1, 2015

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