Tolerance Towards Sensor Faults: An Application to a Flexible Arm Manipulator

International Journal of Advanced Robotic Systems

关键词: flexible arm;    fault tolerance;    robustness;   

DOI  :  10.5772/5720

学科分类：自动化工程

来源: InTech

【 摘 要 】

As more engineering operations become automatic, the need for robustness towards faults increases. Hence, a fault tolerant control (FTC) scheme is a valuable asset. This paper presents a robust sensor fault FTC scheme implemented on a flexible arm manipulator, which has many applications in automation. Sensor faults affect the system's performance in the closed loop when the faulty sensor readings are used to generate the control input. In this paper, the non-faulty sensors are used to reconstruct the faults on the potentially faulty sensors. The reconstruction is subtracted from the faulty sensors to form a compensated ‘virtual sensor’ and this signal (instead of the normally used faulty sensor output) is then used to generate the control input. A design method is also presented in which the FTC scheme is made insensitive to any system uncertainties. Two fault conditions are tested; total failure and incipient faults. Then the scheme robustness is tested by implementing the flexible joint's FTC scheme on...

【 授权许可】

CC BY