Fault identification for robot manipulators

Several factors must be considered for robotic task execution in the presence of a fault, including: detection, identification, and accommodation for the fault. In this paper, a nonlinear observer is used to identify a class of actuator faults once the fault has been detected by some other method. Advantages of the proposed fault-identification method are that it is based on the nonlinear dynamic model of a robot manipulator (and hence, can be extended to a number of general Euler Lagrange systems), it does not require acceleration measurements, and it is independent from the controller. A Lyapunov-based analysis is provided to prove that the developed fault observer converges to the actual fault. Experimental results are provided to illustrate the performance of the identification method.

[1]  R. W. Brockett,et al.  Asymptotic stability and feed back stabilization , 1983 .

[2]  E. Gilbert,et al.  Optimal infinite-horizon feedback laws for a general class of constrained discrete-time systems: Stability and moving-horizon approximations , 1988 .

[3]  Mark W. Spong,et al.  Robot dynamics and control , 1989 .

[4]  Paul M. Frank,et al.  Fault diagnosis in dynamic systems using analytical and knowledge-based redundancy: A survey and some new results , 1990, Autom..

[5]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[6]  Paul M. Frank,et al.  Fault Detection and Isolation in Automatic Processes , 1991 .

[7]  Janos J. Gertler,et al.  Analytical Redundancy Methods in Fault Detection and Isolation , 1991 .

[8]  R. Patton,et al.  Robust fault detection using eigenstructure assignment: a tutorial consideration and some new results , 1991, [1991] Proceedings of the 30th IEEE Conference on Decision and Control.

[9]  Christiaan J. J. Paredis,et al.  Kinematic design of fault tolerant manipulators , 1992 .

[10]  Jie Chen,et al.  Robust fault detection of jet engine sensor systems using eigenstructure assignment , 1991 .

[11]  Jean-Baptiste Pomet.  Explicit design of time-varying stabilizing control laws for a class of controllable systems without drift , 1992 .

[12]  O. J. Sordalen,et al.  Exponential stabilization of mobile robots with nonholonomic constraints , 1992 .

[13]  Claude Samson,et al.  Time-varying Feedback Stabilization of Car-like Wheeled Mobile Robots , 1993, Int. J. Robotics Res..

[14]  John T. Chladek,et al.  Fault-tolerant joint development for the Space Shuttle remote manipulator system: analysis and experiment , 1993, IEEE Trans. Robotics Autom..

[15]  B.D. Appleby,et al.  Using learning techniques to accommodate unanticipated faults , 1993, IEEE Control Systems.

[16]  Yung Ting,et al.  A control structure for fault-tolerant operation of robotic manipulators , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[17]  J. Rawlings,et al.  The stability of constrained receding horizon control , 1993, IEEE Trans. Autom. Control..

[18]  A. A. Maciejewski,et al.  Dexterity optimization of kinematically redundant manipulators in the presence of joint failures , 1994 .

[19]  Wyatt S. Newman,et al.  Reflex control for robot system preservation, reliability and autonomy , 1994 .

[20]  Delbert Tesar,et al.  Architectures for fault-tolerant mechanical systems , 1994, Proceedings of MELECON '94. Mediterranean Electrotechnical Conference.

[21]  G. Rizzoni,et al.  Nonlinear Parity Equation Residual Generation for Fault Detection and Isolation , 1994 .

[22]  J. Gertler,et al.  Optimal residual decoupling for robust fault diagnosis , 1995 .

[23]  Joseph R. Cavallaro,et al.  A dynamic fault tolerance framework for remote robots , 1995, IEEE Trans. Robotics Autom..

[24]  Marios M. Polycarpou,et al.  Automated fault detection and accommodation: a learning systems approach , 1995, IEEE Trans. Syst. Man Cybern..

[25]  Antonio Bicchi,et al.  Closed loop steering of unicycle like vehicles via Lyapunov techniques , 1995, IEEE Robotics Autom. Mag..

[26]  Thomas Parisini,et al.  A receding-horizon regulator for nonlinear systems and a neural approximation , 1995, Autom..

[27]  A. Astolfi.  Discontinuous control of nonholonomic systems , 1996 .

[28]  Giorgio Rizzoni,et al.  Robust Residual Generation for Nonlinear System Fault Detection and Isolation , 1997 .

[29]  R. Murray,et al.  Exponential stabilization of driftless nonlinear control systems using homogeneous feedback , 1997, IEEE Trans. Autom. Control..

[30]  Hong Wang,et al.  On the use of adaptive updating rules for actuator and sensor fault diagnosis , 1997, Autom..

[31]  H. ChenT,et al.  A Quasi-Infinite Horizon Nonlinear Model Predictive Control Scheme with Guaranteed Stability * , 1998 .

[32]  Anthony A. Maciejewski,et al.  Fault tolerance for kinematically redundant manipulators: anticipating free-swinging joint failures , 1998, IEEE Trans. Robotics Autom..

[33]  Janos Gertler,et al.  Fault detection and diagnosis in engineering systems , 1998 .

[34]  R. Tinos,et al.  Fault detection and isolation in robotic systems via artificial neural networks , 1998, Proceedings of the 37th IEEE Conference on Decision and Control (Cat. No.98CH36171).

[35]  D. Q. Mayne,et al.  Suboptimal model predictive control (feasibility implies stability) , 1999, IEEE Trans. Autom. Control..

[36]  Ju-Jang Lee,et al.  Fault detection and robust fault recovery control for robot manipulators with actuator failures , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[37]  Gary G. Yen,et al.  Fault tolerant control: an intelligent sliding mode control strategy , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[38]  John Doyle,et al.  A receding horizon generalization of pointwise min-norm controllers , 2000, IEEE Trans. Autom. Control..

[39]  David Q. Mayne,et al.  Constrained model predictive control: Stability and optimality , 2000, Autom..

[40]  Ian D. Walker,et al.  Fault detection for robot manipulators with parametric uncertainty: a prediction-error-based approach , 2000, IEEE Trans. Robotics Autom..

[41]  Marios M. Polycarpou,et al.  Automated fault diagnosis in nonlinear multivariable systems using a learning methodology , 2000, IEEE Trans. Neural Networks Learn. Syst..

[42]  Jie Yu,et al.  Unconstrained receding-horizon control of nonlinear systems , 2001, IEEE Trans. Autom. Control..

[43]  Marios M. Polycarpou,et al.  A robust detection and isolation scheme for abrupt and incipient faults in nonlinear systems , 2002, IEEE Trans. Autom. Control..

[44]  Darren M. Dawson,et al.  QMotor 3.0 and the QMotor robotic toolkit: a PC-based control platform , 2002 .

[45]  Marilena Vendittelli,et al.  WMR control via dynamic feedback linearization: design, implementation, and experimental validation , 2002, IEEE Trans. Control. Syst. Technol..

[46]  F. Fontes.  Discontinuous feedbacks, discontinuous optimal controls, and continuous-time model predictive control , 2003 .

[47]  Alessandro De Luca,et al.  Actuator failure detection and isolation using generalized momenta , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[48]  Tor Arne Johansen,et al.  Approximate explicit constrained linear model predictive control via orthogonal search tree , 2003, IEEE Trans. Autom. Control..

[49]  Darren M. Dawson,et al.  A Continuous Control Mechanism for Uncertain Nonlinear Systems , 2004 .

[50]  Alessandro De Luca,et al.  An adapt-and-detect actuator FDI scheme for robot manipulators , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.