Open AccessMulti‐model switching‐based fault tolerant control for planar robot manipulators
Author(s) -
Meng Yajun,
Yang Hao,
Jiang Bin
Publication year - 2020
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2019.0229
Subject(s) - control theory (sociology) , actuator , planar , fault tolerance , computer science , controller (irrigation) , robot , robot manipulator , set (abstract data type) , class (philosophy) , fault (geology) , control engineering , control (management) , engineering , artificial intelligence , distributed computing , computer graphics (images) , seismology , agronomy , biology , programming language , geology
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.