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.
2012
9781467321273
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11563/39850
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