Review of Fault-Tolerant Control Systems Used in Robotic Manipulators

Milecki, Andrzej; Nowak, Patryk

doi:10.3390/app13042675

Cited by 8 publications

(4 citation statements)

References 51 publications

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“…This approach effectively distinguishes between intentional contact and accidental collisions involving a specific link of a robot. Additionally, some supervised learning methods based on manual feature extraction in tasks such as robot fault detection and fault-tolerant control, as mentioned in [22,23], are also worth considering for reference.…”

Section: Related Workmentioning

confidence: 99%

Enhancing Safety in Automatic Electric Vehicle Charging: A Novel Collision Classification Approach

Lin,

Quan,

Liang

et al. 2024

Applied Sciences

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With the rise of electric vehicles, autonomous driving, and valet parking technologies, considerable research has been dedicated to automatic charging solutions. While the current focus lies on charging robot design and the visual positioning of charging ports, a notable gap exists in addressing safety aspects during the charging plug-in process. This study aims to bridge this gap by proposing a collision classification scheme for robot manipulators in automatic electric vehicle charging scenarios. In situations with minimal visual positioning deviation, robots employ impedance control for effective insertion. Significant deviations may lead to potential collisions with other vehicle parts, demanding discrimination through a global visual system. For moderate deviations, where a robot’s end-effector encounters difficulty in insertion, existing methods prove inadequate. To address this, we propose a novel data-driven collision classification method, utilizing vibration signals generated during collisions, integrating the robust light gradient boosting machine (LightGBM) algorithm. This approach effectively discerns the acceptability of collision contacts in scenarios involving moderate deviations. Considering the impact of passing vehicles introducing environmental noise, a noise suppression module is introduced into the proposed collision classification method, leveraging empirical mode decomposition (EMD) to enhance its robustness in noisy charging scenarios. This study significantly contributes to the safety of automatic charging processes, offering a practical and applicable collision classification solution tailored to diverse noisy scenarios and potential contact forms encountered by charging robots. The experimental results affirm the effectiveness of the collision classification method, integrating LightGBM and EMD, and highlight its promising prediction accuracy. These findings offer valuable perspectives to steer future research endeavors in the domain of autonomous charging systems.

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Section: Related Workmentioning

confidence: 99%

Enhancing Safety in Automatic Electric Vehicle Charging: A Novel Collision Classification Approach

Lin,

Quan,

Liang

et al. 2024

Applied Sciences

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“…In [26], a tuning function control scheme was presented for nonlinear systems with actuator or sensor faults and mismatched disturbances. In [27,28], some experts developed fault-tolerant control strategies for robot malfunctions. However, it is not comprehensive to only consider actuator faults.…”

Section: Introductionmentioning

confidence: 99%

Predefined Time and Accuracy Adaptive Fault-Tolerant Control for Nonlinear Systems with Multiple Faults

Su,

Jiang,

Tong

et al. 2024

Actuators

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This work mainly studies the issue of predefined time and accuracy adaptive fault-tolerant control for strict-feedback nonlinear systems with multiple faults. The faults in the controlled system include actuator faults and external system faults. The unknown functions for nonlinear systems are approximated by fuzzy logic systems (FLSs). And then, according to the backstepping technique and the predefined time stability theory, an adaptive fuzzy control algorithm is presented, which can make sure that all closed-loop system signals remain predefined time bound and the tracking error converges to a predefined accuracy within the predefined time. Ultimately, the effectiveness of the presented control algorithm is proved through two simulation examples.

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“…In light of the above, there is an urgent need to study fault-tolerant control (FTC) for CBA. In recent years, various FTC strategies based on advanced control theory have been applied increasingly to the design of flight controller subsystems because different models and relevant requirements of control quality are becoming increasingly complex, leading to visible achievements [24][25][26]. Sun et al designed a fast adaptive terminal sliding-mode fault-tolerant controller for hypersonic flight vehicles to ensure limited state stability of the system with faults [27].…”

Section: Introductionmentioning

confidence: 99%

Fault-Tolerant Control for Carrier-Based Aircraft Based on Adaptive Fuzzy Sliding-Mode Method

Xing,

2023

Applied Sciences

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Carrier-based aircraft landing involves complex system engineering characterised by strong nonlinearity, significant coupling and susceptibility to environmental disturbances, and autonomous landing of carrier-based aircraft under fault states is even more challenging and riskier. To address the control-system problems of loss of efficiency and performance due to actuator faults and performance degradation due to various unknown disturbances, presented here is fault-tolerant control for carrier-based aircraft based on adaptive fuzzy sliding-mode fault-tolerant control (AFSMFTC). First, three models are built (the carrier-based aircraft fault model, the carrier air wake model and the deck motion model), and the control framework of the autonomous landing control system is introduced. Next, a longitudinal and lateral flight channel controller comprising an adaptive fuzzy network, adaptive laws and a sliding-mode controller is designed using the AFSMFTC method. The adaptive fuzzy network implements fuzzy approximation for the sliding-mode switching terms to further offset errors induced by unknown disturbances, the adaptive laws compensate for actuator faults, and the sliding-mode controller ensures tracking of the overall flight path. Furthermore, the stability of the fault-tolerant method is demonstrated using the Lyapunov function. Finally, simulation and comparative experiments show that the proposed fault-tolerant method has outstanding control performance and strong fault-tolerant capability, thereby providing an effective and feasible solution for designing an autonomous landing system for carrier-based aircraft under fault states.

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Review of Fault-Tolerant Control Systems Used in Robotic Manipulators

Cited by 8 publications

References 51 publications

Enhancing Safety in Automatic Electric Vehicle Charging: A Novel Collision Classification Approach

Enhancing Safety in Automatic Electric Vehicle Charging: A Novel Collision Classification Approach

Predefined Time and Accuracy Adaptive Fault-Tolerant Control for Nonlinear Systems with Multiple Faults

Fault-Tolerant Control for Carrier-Based Aircraft Based on Adaptive Fuzzy Sliding-Mode Method

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