文章基本信息

标题：Tolerance Towards Sensor Faults: An Application to a Flexible Arm Manipulator
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作者：Chee Pin Tan
期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2006
卷号：3
期号：4
DOI：10.5772/5720
出版社：SAGE Publications
摘要：As more engineering operations become automatic, the need for robustness towards faults increases. Hence, a fault tolerant control (FTC) scheme is a valuable asset. This paper presents a robust sensor fault FTC scheme implemented on a flexible arm manipulator, which has many applications in automation. Sensor faults affect the system's performance in the closed loop when the faulty sensor readings are used to generate the control input. In this paper, the non-faulty sensors are used to reconstruct the faults on the potentially faulty sensors. The reconstruction is subtracted from the faulty sensors to form a compensated ‘virtual sensor’ and this signal (instead of the normally used faulty sensor output) is then used to generate the control input. A design method is also presented in which the FTC scheme is made insensitive to any system uncertainties. Two fault conditions are tested; total failure and incipient faults. Then the scheme robustness is tested by implementing the flexible joint's FTC scheme on a flexible link, which has different parameters. Excellent results have been obtained for both cases (joint and link); the FTC scheme caused the system performance is almost identical to the fault-free scenario, whilst providing an indication that a fault is present, even for simultaneous faults.
关键词：flexible arm ; fault tolerance ; robustness