Title :
Internal model based fault tolerant control of a robot manipulator
Author :
Bonivento, Claudio ; Gentili, Luca ; Paoli, Andrea
Author_Institution :
CASY-DEIS, Bologna Univ., Italy
Abstract :
In this paper an implicit fault tolerant control scheme is specialized for an n-dof fully actuated mechanical manipulator subject to various sinusoidal torque disturbances acting on joints. More in detail we show how a standard tracking controller can be "augmented" with an internal model unit designed so as to compensate the unknown spurious torque harmonics. In this way the controller is proved to be global implicitly fault tolerant to all the faults belonging to the model embedded in the regulator. Moreover simply testing the state of the internal model we will show how to perform fault detection and isolation.
Keywords :
control system synthesis; fault tolerance; manipulators; global implicitly fault tolerant controller; internal model based fault tolerant control; robot manipulator; sinusoidal torque disturbances; Control systems; Fault detection; Fault tolerance; Fault tolerant systems; Filters; Manipulators; Phase detection; Regulators; Robot control; Torque control;
Conference_Titel :
Decision and Control, 2004. CDC. 43rd IEEE Conference on
Print_ISBN :
0-7803-8682-5
DOI :
10.1109/CDC.2004.1429643