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Gentili Luca, Bonivento Claudio, Paoli Andrea
"Internal model based fault tolerant control of a robot manipulator"
Type Conference
Author(s) Gentili Luca, Bonivento Claudio, Paoli Andrea
Title Internal model based fault tolerant control of a robot manipulator
Editor Proc. 43nd IEEE Conference on Decision and Control, Paradise Island, Bahamas
Keywords FTC, port-Hamiltonian systems, internal model based control, robot manipulator
In this paper an implicit fault tolerant control scheme is specialized for an n-dof fully actuated mechanical manipulator subject to various sinusoidal torque disturbances acting on joints. More in detail we show how a standard tracking controller can be "augmented" with an internal model unit designed so as to compensate the unknown spurious torque harmonics. In this way the controller is proved to be global implicitly fault tolerant to all the faults belonging to the model embedded in the regulator. Moreover simply testing the state of the internal model we will show how to perform fault detection and isolation.
Document 9bd7.Document.pdf (314218 bytes)
Year 2004

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