Adaptive fault detection and isolation for a class of robot manipulators with time-varying perturbation

Rezazadeh, Amaneh Salmani; Koofigar, Hamid Reza; HosseinNia, S. Hassan

doi:10.1007/s12206-015-1038-5

Cited by 19 publications

(5 citation statements)

References 26 publications

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“…With an exact robot model, an observer may be designed either for fault detection or tracking controller design. 26,27 To compensate the robot uncertainty, an adaptive link position controller without joint velocity measurements is suggested in the work by De Queiroz et al 28 Also, intelligent output feedback controllers, based on fuzzy logic and neural networks, were proposed by Liu and Li 29 and Kim. 30 In addition, global output feedback tracking control of uncertain robot manipulators, using a nonlinear dynamic filter, is provided in the work by Zhang et al 31…”

Section: Introductionmentioning

confidence: 99%

Robust tracking control of robot manipulators with friction and variable loads without velocity measurement: A switched control strategy

Noghreian

Koofigar

2020

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article addresses the adaptive-based robust output feedback tracking control for robot manipulators with friction and alternating unknown loads. A switched nonlinear system is first established to model the friction and parameter variations, caused by the load change. Under arbitrary load changings, an adaptive [Formula: see text] tracking control strategy is proposed to ensure link position tracking, in the presence of uncertainties and external disturbances. Then, for bounded external disturbances, a novel robust adaptive output tracking control strategy is developed, which guarantees all the closed-loop signals are bounded and tracking error is driven to zero. Unlike some previous studies, the proposed algorithms do not require velocity measurements, and the unknown switched parameters and disturbances are neither required to be periodic nor to have known bounds. A simulation study is also given to demonstrate the analytically proved properties of the proposed schemes.

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Section: Introductionmentioning

confidence: 99%

Robust tracking control of robot manipulators with friction and variable loads without velocity measurement: A switched control strategy

Noghreian

Koofigar

2020

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…However, robotics systems are always plagued by failures for many reasons such as incorrect operation and mechanical failure. Accurate fault detection and health assessment of robotics systems are significant, especially for robot manipulators [4][5][6].…”

Section: Introductionmentioning

confidence: 99%

Adaptive State Observer for Robot Manipulators Diagnostics and Health Degree Assessment

et al. 2020

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To avoid serious damages caused by the dynamic environment, fault detection and health assessment are essential for an integrated robotic system. In this paper, we propose a fault detection algorithm and a health degree assessment approach for a robot manipulator system. Both the internal disturbance and the output measurement disturbance are considered in the proposed method. In addition, an adaptive observer is utilized to reconstruct the real system of robot manipulators. Under the proposed observer, the real system is estimated to detect the fault and obtain the health degree of the robot manipulator. The feasibility and reliability of the proposed fault detection algorithm and health degree assessment index for robot manipulator systems are proved by simulation experiments.

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“…In 2014, Mohamed Salah and others used to design and simulate fuzzy logic and neural network for fault detection and isolation (FDI) in sensor and actuator in manipulator robot [5]. In 2015, Amaneh Salmani Rezazadeh and others used nonlinear adaptive fault detection estimator that abled to a two_ link robot manipulator [6]. In 2016, Hong-Jun Ma and Guang-Hong Yang used observer model_ based fault detection in sensor and actuator in manipulator robot [7].…”

Section: Introductionmentioning

confidence: 99%

A Hybrid Neural-Fuzzy Network Based Fault Detection and IsolationSystem for DC Motor of Robot Manipulator

Jassim¹,

Issa²,

Jawad³

2019

ETJ

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Adaptive fault detection and isolation for a class of robot manipulators with time-varying perturbation

Cited by 19 publications

References 26 publications

Robust tracking control of robot manipulators with friction and variable loads without velocity measurement: A switched control strategy

Robust tracking control of robot manipulators with friction and variable loads without velocity measurement: A switched control strategy

Adaptive State Observer for Robot Manipulators Diagnostics and Health Degree Assessment

A Hybrid Neural-Fuzzy Network Based Fault Detection and IsolationSystem for DC Motor of Robot Manipulator

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