Integrated Sensor Fault Diagnosis and Fault-Tolerant Control for Manipulator

Hong, Bowen, Yao, Lina and Gao, Zhiwei (2019) Integrated Sensor Fault Diagnosis and Fault-Tolerant Control for Manipulator. Journal of Control Science and Engineering, 2019. p. 4751080. ISSN 1687-5249

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Abstract

In this paper, an integrated scheme including fault diagnosis and fault-tolerant controller design is proposed for the manipulator system with the sensor fault. Any constant fault or time-varying fault can be estimated by the fault diagnosis scheme based on the adaptive observer rapidly and accurately, and the designed parameters can be solved by the linear matrix inequality. Using the fault estimation information, a fault-tolerant controller combining the characteristics of the proportional differentiation control and the sliding model control is designed to trace the expected trajectory via the back-stepping method. Finally, the effectiveness of the above scheme is verified by the simulation results.

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