A Fault Tolerant adaptive control for a robotic manipulator with fault affecting the joint actuators is presented. First, in order to achieve a proper detection and isolation of the fault, an observer based scheme for fault diagnosis is developed. Then, an inverse dynamics robust controller is reconfigured in such a way to include an adaptive term, depending on the isolated fault. The model uncertainties are explicitly taken into account and estimated via an off-line-trained Support Vector Machine. Finally, simulation results are presented in order to prove the effectiveness of the approach.
A Fault Tolerant Adaptive Control for Robot Manipulators
MUSCIO, GIUSEPPE;PIERRI, FRANCESCO
2012-01-01
Abstract
A Fault Tolerant adaptive control for a robotic manipulator with fault affecting the joint actuators is presented. First, in order to achieve a proper detection and isolation of the fault, an observer based scheme for fault diagnosis is developed. Then, an inverse dynamics robust controller is reconfigured in such a way to include an adaptive term, depending on the isolated fault. The model uncertainties are explicitly taken into account and estimated via an off-line-trained Support Vector Machine. Finally, simulation results are presented in order to prove the effectiveness of the approach.File in questo prodotto:
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