FAULT TOLERANT CONTROL FOR SENSOR FAULT OF A SINGLE-LINK FLEXIBLE MANIPULATOR SYSTEM

This paper presents a new approach for sensor fault tolerant control (FTC) of a single-link flexible manipulator system (FMS) by using Finite Element Method (FEM). In this FTC scheme, a new control law is proposed where it is added to the nominal control.  This research focuses on one element without any payload assumption in the modelling.  The FTC method is designed in such way that aims to reduce fault while maintaining nominal FMS controller without any changes in both faulty and fault free cases. This proposed FTC approach is achieved by augmenting Luenberger observer that is capable of estimating faults in fault detection and isolation (FDI) analysis. From the information provided by the FDI, fault magnitude is assessed by using Singular Value Decomposition (SVD) where this information is used in the fault compensation strategy. For the nominal FMS controller, Proportional- integral- derivative (PID) controller is used to control the FMS where it follows the desired hub angle. This work proved that the FTC approach is capable of reducing fault with both incipient and abrupt signals and in two types of faulty conditions where the sensor is having loss of effectiveness and totally malfunction. All the performances are compared with FTC with Unknown Input Observer (FTC-UIO) method via the integral of the absolute magnitude of error (IAE) method.

[1]  Junji Hirai,et al.  A Realization Method of Fault-tolerant Control of Flexible Arm under Sensor Fault by Using an Adaptive Sensor Signal Observer , 2006 .

[2]  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).

[3]  Rolf Isermann,et al.  Model-based fault-detection and diagnosis - status and applications , 2004, Annu. Rev. Control..

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

[5]  J.J. Gertler,et al.  Survey of model-based failure detection and isolation in complex plants , 1988, IEEE Control Systems Magazine.

[6]  Guanghong Yang,et al.  Dynamic observer-based robust control and fault detection for linear systems , 2012 .

[7]  Didier Theilliol,et al.  Fault diagnosis and accommodation of a three-tank system based on analytical redundancy. , 2002, ISA transactions.

[8]  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).

[9]  Hee-Jun Kang,et al.  Fault Tolerant Control for Robot Manipulators Using Neural Network and Second-Order Sliding Mode Observer , 2013, ICIC.

[10]  R. N. Claek.  Instrument Fault Detection , 1978 .

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

[12]  M. O. Tokhi,et al.  Finite difference and finite element approaches to dynamic modelling of a flexible manipulator , 1997 .

[13]  Quan Hu,et al.  Maneuver and vibration control of flexible manipulators using variable-speed control moment gyros , 2015 .

[14]  Auwalu M. Abdullahi,et al.  Resonant Control of a Single-Link Flexible Manipulator , 2014 .

[15]  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.

[16]  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..

[17]  Anthony A. Maciejewski,et al.  Failure tolerant teleoperation of a kinematically redundant manipulator: an experimental study , 2003, IEEE Trans. Syst. Man Cybern. Part A.

[18]  Michel Kinnaert,et al.  Diagnosis and Fault-Tolerant Control , 2006 .

[19]  Yuanqing Xia,et al.  Applied Control Systems Design , 2012 .

[20]  Yuebin Yu,et al.  A review of fault detection and diagnosis methodologies on air-handling units , 2014 .

[21]  Steffen Leonhardt,et al.  Methods of fault diagnosis , 1997 .

[22]  Chee Pin Tan,et al.  Fault Tolerance Of A Flexible Manipulator , 2006, 2006 9th International Conference on Control, Automation, Robotics and Vision.

[23]  Ron J. Patton,et al.  Active sensor fault tolerant output feedback tracking control for wind turbine systems via T-S model , 2014, Eng. Appl. Artif. Intell..

[24]  Vicente Feliú Batlle,et al.  Position control of very lightweight single-link flexible arms with large payload variations by using disturbance observers , 2012, Robotics Auton. Syst..

[25]  Miguel Ayala Botto,et al.  Vibration control of a very flexible manipulator system , 2005 .

[26]  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..