Multi‐model switching‐based fault tolerant control for planar robot manipulators. Issue 1 (1st January 2020)

• Record Type: Journal Article
• Authors: Meng, Yajun; Yang, Hao; Jiang, Bin
• Is Part Of: IET control theory & applications. Volume 14:Issue 1(2020)
• Page Start: 1
• Page End: 11
• Publication Date: 2020-01-01
• Subjects: fault tolerant control -- robust control -- nonlinear control systems -- control system synthesis -- actuators -- manipulators -- position control -- switching systems (control); controller switching -- three‐link planar robot manipulator -- multimodel switching‐based fault tolerant control -- planar robot manipulators -- fault‐tolerant tracking control -- planar manipulators -- actuator -- sensor faults -- linear model -- nonlinear model -- sub‐manipulators -- decentralised fault‐tolerant controllers -- switching law -- joint angular positions; Control theory -- Periodicals; Automatic control -- Periodicals; 629.8312
• DOI: 10.1049/iet-cta.2019.0229
• Languages: English
• ISSNs: 1751-8644

Abstract

Abstract : This study addresses the fault‐tolerant tracking control issue for a class of planar manipulators with various actuator and sensor faults. Firstly, a set of linear models are constructed to approximate the original non‐linear model at the different joint angular positions, which explicitly reveal the coupling effects among sub‐manipulators. Secondly, a family of decentralised fault‐tolerant controllers are proposed with each one being related to one linear model respectively, which does not require the information exchange among sub‐manipulators and thus lightens the communication burden. Finally, a switching law is proposed among controllers such that the system remains stable in the presence of controller switching. An example of a three‐link planar robot manipulator is taken to illustrate the effectiveness of the proposed methods.