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Fault Diagnosis and Fault Tolerant Control for Manipulator with Actuator Multiplicative Fault

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  • Control Theory and Applications
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Abstract

In this paper, a new fault diagnosis and fault tolerant control algorithm for manipulators with actuator multiplicative fault is proposed. The dynamic model of the manipulator with disturbance is taken as the research object. When faults occur in the actuator, a nonlinear observer based on radial basis function (RBF) neural network is used to estimate the fault information. After the fault information is obtained, an adaptive back-stepping sliding mode controller is used to control the manipulator to reach the desired trajectory. At last, an illustrated example is given to demonstrate the efficiency of the proposed algorithm, and satisfactory results have been obtained.

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Authors and Affiliations

  1. School of Electrical Engineering, Zhengzhou University, Zhengzhou, 450001, China

    Yawei Wu & Lina Yao

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  1. Yawei Wu
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  2. Lina Yao
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Correspondence to Lina Yao.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Recommended by Associate Editor Aldo Jonathan Munoz-Vazquez under the direction of Editor Jessie (Ju H.) Park. The authors would like to thank the financial support received from Chinese NSFC grant 61973278. In addition, the authors also would like to thank Professor Hong Wang for his help in modifying English.

Yawei Wu received his B.S. degree from Zhengzhou University in 2018. He is currently pursuing an M.S. degree with the Zhengzhou University. His research interests include fault diagnosis and fault tolerant control for multi-agent systems.

Lina Yao received her Ph.D. degree in control theory and control engineering from the Institute of Automation, Chinese Academy of Sciences, Beijing, China, in 2006. From September 2007 to March 2008, she was a Research Fellow in University of Science and Technology of Lille, France. She is currently a Professor in the School of Electrical Engineering, Zhengzhou University, China. Her research interests include fault diagnosis and fault tolerant control of dynamic systems, stochastic distribution control and their applications.

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Wu, Y., Yao, L. Fault Diagnosis and Fault Tolerant Control for Manipulator with Actuator Multiplicative Fault. Int. J. Control Autom. Syst. 19, 980–987 (2021). https://doi.org/10.1007/s12555-019-1013-5

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  • DOI: https://doi.org/10.1007/s12555-019-1013-5

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