Reconfigurable control of flexible joint robot with actuator fault and uncertainty

Abstract This paper presents the fault tolerant control (FTC) of a flexible joint robot using singular perturbation method in order to compensate for the lost performance due to the occurrence of actuator fault and the uncertainty. This FTC is based on Lyapunov redesign principle. The singular perturbation method is used to reduce the dynamic model of the flexible joint robot in a fast and slow subsystem. The time scale reduction of the flexible joint model is carried out when their joint stiffness is large enough and the singular perturbation parameter is set to zero. The fault-tolerant control structure in this paper is based on two parts. The first term described the composite control for the system without defect and without uncertainty which represents the sum between slow and fast controllers. While the second term of the fault tolerant command describes additive control designed to compensate for the fault effect of the actuator on the uncertain system. The additive approach is based on the Lyapunov theorem, which guarantees asymptotic stability despite the presence of actuator defects and the parametric uncertainty. The theoretical results are applied on a robot manipulator with a single flexible joint.

[1]  Min Tan,et al.  Sliding Mode Control for Flexible-link Manipulators Based on Adaptive Neural Networks , 2018, Int. J. Autom. Comput..

[2]  Naser Pariz,et al.  Adaptive Fault-Tolerant Spacecraft Attitude Control Design With Transient Response Control , 2014, IEEE/ASME Transactions on Mechatronics.

[3]  Anthony A. Maciejewski,et al.  Failure tolerant teleoperation of a kinematically redundant manipulator: an experimental study , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[4]  Ke Wang.  Modélisation d'un robot manipulateur en vue de la commande robuste en force utilisé en soudage FSW , 2016 .

[5]  L. Sweet,et al.  Redefinition of the robot motion-control problem , 1985, IEEE Control Systems Magazine.

[6]  Hajime Asama,et al.  Fault tolerance of a functionally adaptive and robust manipulator , 1993, Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93).

[7]  Patrice Wira,et al.  Fuzzy Control of the Permanent Magnet Synchronous Machine Singularly Perturbed Fed By a Three Level Inverter , 2012 .

[8]  Marcel Staroswiecki,et al.  Fault Accommodation for Nonlinear Dynamic Systems , 2006, IEEE Transactions on Automatic Control.

[9]  M. Spong.  Modeling and Control of Elastic Joint Robots , 1987 .

[10]  Hassan K. Khalil,et al.  Singular perturbation methods in control : analysis and design , 1986 .

[11]  Heydar Toossian Shandiz,et al.  Time scale separation in control of a single-link flexible-joint robot manipulator , 2018, IMA J. Math. Control. Inf..

[12]  Z. Mohamed,et al.  Review of modelling and control of flexible-link manipulators , 2016, J. Syst. Control. Eng..

[13]  Wei He,et al.  Adaptive boundary control of a flexible manipulator with input saturation , 2016, Int. J. Control.

[14]  Chang Tai Kiang,et al.  Review of Control and Sensor System of Flexible Manipulator , 2015, J. Intell. Robotic Syst..

[15]  Vicente Feliú Batlle,et al.  Input-state feedback linearization control of a single-link flexible robot arm moving under gravity and joint friction , 2017, Robotics Auton. Syst..

[16]  Bin Xu,et al.  Composite Learning Control of Flexible-Link Manipulator Using NN and DOB , 2018, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[17]  Adel Tellili,et al.  Additive fault tolerant control of nonlinear singularly perturbed systems against actuator fault , 2017 .

[18]  Yong Huang,et al.  Robust adaptive output feedback tracking control for flexible-joint robot manipulators based on singularly perturbed decoupling , 2018, Robotica.

[19]  Abdelhalim Boutarfa,et al.  Reconfigurable Control for a Scara Robot Using RBF Networks , 2010 .

[20]  Mark W. Spong,et al.  Adaptive control of flexible joint manipulators: Comments on two papers , 1995, Autom..

[21]  Petar V. Kokotovic,et al.  An integral manifold approach to the feedback control of flexible joint robots , 1987, IEEE J. Robotics Autom..

[22]  P. Olver.  Nonlinear Systems , 2013 .

[23]  Ivan Giorgio,et al.  Modelling flexible multi-link robots for vibration control: Numerical simulations and real-time experiments , 2019 .

[24]  Y. Izumikawa,et al.  Vibration suppression control of flexible arm robot by PD gain switching considering sensor failure , 2002, 2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02..

[25]  Anthony A. Maciejewski,et al.  Fault tolerant operation of kinematically redundant manipulators for locked joint failures , 1997, IEEE Trans. Robotics Autom..

[26]  Chang Nho Cho,et al.  Neural Network Based Adaptive Actuator Fault Detection Algorithm for Robot Manipulators , 2019, J. Intell. Robotic Syst..

[27]  Sabri Tosunoglu,et al.  Control algorithms for fault-tolerant robots , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[28]  H. Khalil,et al.  Stabilization and regulation of nonlinear singularly perturbed systems--Composite control , 1985 .

[29]  Yueying Wang,et al.  Reliable Robust Sampled-Data H∞ Output Tracking Control with Application to Flight Control , 2014, Inf. Technol. Control..

[30]  Fateh Guenab.  Contribution aux systèmes tolérants aux défauts : Synthèse d'une méthode de reconfiguration et/ou de restructuration intégrant la fiabilité des composants , 2007 .

[31]  John Valasek,et al.  Nonlinear Time Scale Systems in Standard and Nonstandard Forms - Analysis and Control , 2014, Advances in design and control.

[32]  Shuzhi Sam Ge.  Adaptive controller design for flexible joint manipulators , 1996, Autom..

[33]  Moussa Boukhnifer.  Active Fault Tolerant Control for Ultrasonic Piezoelectric Motor , 2012 .

[34]  Liu Ye-chao,et al.  Singular Perturbation Control for Flexible-joint Manipulator Based on Flexibility Compensation , 2008 .

[35]  Wei He,et al.  Reinforcement learning control of a single-link flexible robotic manipulator , 2017 .

[36]  Mark W. Spong,et al.  Adaptive control of flexible-joint manipulators , 1989, IEEE Control Systems Magazine.