DocumentCode :
3180803
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
Volume :
5
fYear :
2004
fDate :
14-17 Dec. 2004
Firstpage :
5260
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;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 2004. CDC. 43rd IEEE Conference on
ISSN :
0191-2216
Print_ISBN :
0-7803-8682-5
Type :
conf
DOI :
10.1109/CDC.2004.1429643
Filename :
1429643
Link To Document :
بازگشت