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

Authors: Bailing Tian; Zhuo Wang; Xiaomo Yan; Hong Wang

Addresses: School of Electrical Engineering and Automation, Tianjin University, Tianjin, China ' Fok Ying Tung Graduate School, Hong Kong University of Science and Technology, Clear Water Bay, Kowloon, Hong Kong ' School of Electrical and Electronic Engineering, The University of Manchester, Manchester, UK ' School of Electrical and Electronic Engineering, The University of Manchester, Manchester, UK

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 control; robot control; actuator faults; sensor faults; fault-tolerant control; fault tolerance; robot actuators; robot sensors.

DOI: 10.1504/IJAMECHS.2015.072706

International Journal of Advanced Mechatronic Systems, 2015 Vol.6 No.4, pp.166 - 173

Received: 24 Nov 2014
Accepted: 02 Jun 2015

Published online: 25 Oct 2015 *

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