Fault-Tolerant Control System of Flexible Arm for Sensor Fault by Using Reaction Force Observer

SUMMARYIn recent years, control system reliability has received much attention with an increase of situations where computer-controlled systems such as robot control systems are used. In order to improve reliability, control systems need to have abilities to detect a fault (fault detection) and maintain the stability and the control performance (fault tolerance). This paper deals with the strain gauge sensor fault of a flexible arm robot. In order to achieve a fault-tolerant control system, the effect of the fault is identified as dual Youla parameter by regarding the estimation error of the faulty sensor signal as the faulty plant output. Moreover, Youla parameter is designed so as to suppress the effect of dual Youla parameter. Youla parameter is implemented in GIMC (Generalized Internal Model Control) structure proposed by Zhou. Since GIMC structure includes a conditional feedback, it is suitable for achieving a fault-tolerant control system. The effectiveness of the proposed fault-tolerant control system is confirmed by experiments.

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“…Detailed explanations concerning the design of the outer loop controller C determining the normal mode performance are provided in Ref. 11. …”

Section: One-link Flexible Arm and Vibration Control Systemmentioning

confidence: 99%

Compensation of performance degradation caused by fault based on GIMC structure: Application to a redundant sensor fault of flexible arm

Yubai

Sakuishi

Hirai

2009

Electrical Engineering Japan

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“…Model-based FDI is a powerful solution [14]. Based on the estimation error obtained from the strain gauge sensor signal and the reaction force observer [15], the sensor fault can be detected, and then the faulty sensor signal was exchanged by the estimated one to maintain the stable control performance. In the presence of parametric uncertainties and actuator faults, a robust reliable control [16] for a near space vehicle was studied based on the fuzzy state-space observer.…”

Section: Introductionmentioning

confidence: 99%

Multiple Faults Detection and Isolation via Decentralized Sliding Mode Observer for Reconfigurable Manipulator

Zhao¹,

Li²,

Ma³

et al. 2015

Journal of Electrical Engineering and Technology

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-This paper considers a decentralized multiple faults detection and isolation (FDI) scheme for reconfigurable manipulators. Inspired by their modularization property, a global sliding mode (GSM) based stable adaptive fuzzy decentralized controller is investigated for the system in fault free, while for the system suffering from multiple faults (actuator fault and sensor fault), the decentralized sliding mode observer (DSMO) is employed to detect their occurrence. Hereafter, the time and location of faults can be determined by a fault isolation scheme via a bank of DSMOs. Finally, the effectiveness of the proposed schemes in controlling, detecting and isolating faults is illustrated by the simulations of two 3-DOF reconfigurable manipulators with different configurations successfully.

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“…Yubai, et al have achieved fault detection and fault tolerance control using an external force estimation observer [14]. The method still has an issue that unmeasurable force axes often exist since dimension of force detection is limited by the number of actuators.…”

Section: Introductionmentioning

confidence: 99%

Fault tolerance measurement using a six-axis force/torque sensing system with redundancy

Tsuji

Hanyu

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Force sensors are a useful tool for robot adapting to human environments. However, these sensors are rarely used for commercial machines requiring safety since it is difficult to eliminate the possibility of failure. Although fault tolerance is an important issue, no critical method for general force measurement is proposed in the past. Hence, this paper proposes a fault tolerance measurement method using sensing devices with redundancy. The proposed method accomplishes both: fault detection without additional sensors; and force estimation during fault period. Furthermore, the fault detection handles many kinds of faults such as disconnection of wires, peeling of strain gauge, and so on. The validity of the proposed method is verified through some simulations and experiments.

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Fault-Tolerant Control System of Flexible Arm for Sensor Fault by Using Reaction Force Observer

Cited by 51 publications

References 7 publications

Compensation of performance degradation caused by fault based on GIMC structure: Application to a redundant sensor fault of flexible arm

Compensation of performance degradation caused by fault based on GIMC structure: Application to a redundant sensor fault of flexible arm

Multiple Faults Detection and Isolation via Decentralized Sliding Mode Observer for Reconfigurable Manipulator

Fault tolerance measurement using a six-axis force/torque sensing system with redundancy

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