Fault Tolerance Of A Flexible Manipulator

This paper presents an application of a sensor fault tolerant control (FTC) scheme on a flexible joint and flexible link. A linear observer is used to reconstruct the faults. Then the reconstruction is subtracted from the faulty sensors to form a 'virtual sensor' and this signal (instead of the normally used faulty output) is then used to generate the control input. This minimizes performance degradation. A design method to make the virtual sensor insensitive to system uncertainties is presented. Two fault conditions are tested; total failure and incipient faults. Then the robustness is tested by implementing the joint's FTC scheme on the link. Excellent results have been obtained for both cases; the FTC scheme caused the system performance is almost identical to the fault-free scenario, even for simultaneous faults

[1]  S. Gutman,et al.  A general theory for matrix root-clustering in subregions of the complex plane , 1981 .

[2]  D. Luenberger.  An introduction to observers , 1971 .

[3]  Feng-Li Lian,et al.  Nonlinear adaptive control for flexible-link manipulators , 1997, IEEE Trans. Robotics Autom..

[4]  Chee Pin Tan,et al.  Implementation of a sensor fault reconstruction scheme on an inverted pendulum , 2004, 2004 5th Asian Control Conference (IEEE Cat. No.04EX904).

[5]  K. Yubai,et al.  Fault-tolerant control system of flexible arm for sensor fault by using reaction force observer , 2004, IEEE/ASME Transactions on Mechatronics.

[6]  Alan J. Laub,et al.  The LMI control toolbox , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[7]  Jie Chen,et al.  Optimal unknown input distribution matrix selection in robust fault diagnosis , 1993, Autom..

[8]  Chee Pin Tan,et al.  A robust sensor fault tolerant control scheme implemented on a flexible joint , 2004, IEEE Conference on Robotics, Automation and Mechatronics, 2004..

[9]  B. Anderson,et al.  A first prin-ciples solution to the nonsingular H control problem , 1991 .

[10]  Jie Chen,et al.  Robust Model-Based Fault Diagnosis for Dynamic Systems , 1998, The International Series on Asian Studies in Computer and Information Science.