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Bonivento, C., Gentili, L., Paoli, A.
"An Internal Model Based Approach to Robot Control and Diagnosis"
 
Type Book
Author(s) Bonivento, C., Gentili, L., Paoli, A.
Title An Internal Model Based Approach to Robot Control and Diagnosis
Editor In "Current trends in nonlinear systems and control", In press, Birkhauser
Keywords Internal model, Robotic manipulator, Port Hamiltonian system, Fault tolerance
Abstract
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.
Year 2005


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