Title :
An identification scheme for robot actuator faults
Author :
De Luca, Alessandro ; Mattone, Raffaella
Author_Institution :
Dipt. di Informatica e Sistemistica, Univ. di Roma "La Sapienza", Italy
Abstract :
We present a scheme for identifying the time profile of actuator faults that may affect a robot manipulator. Starting from our previous method for fault detection and isolation (FDI) based on generalized momenta, fault identification is additionally obtained through the H∞-design of a state observer for uncertain systems. For each separate fault channel, the identifier consists of a linear filter driven by the corresponding residual signal. Under the weak assumption of bounded time derivative for the otherwise unknown fault input to be identified, the fault estimation error is shown to be ultimately uniformly bounded, with ultimate bound that can be set arbitrarily small. The information on the type and severity of the fault may then be used for reconfiguring the control strategy. Experimental results on a 2R planar manipulator are presented.
Keywords :
H∞ control; control system analysis; fault diagnosis; linear systems; manipulators; observers; uncertain systems; 2R planar manipulator; H∞-design; bounded time derivative; fault channel; fault detection; fault estimation; fault isolation; linear filter; residual signal; robot actuator fault identification; robot manipulator; state observer; uncertain systems; Actuators; Estimation error; Fault detection; Fault diagnosis; Manipulators; Nonlinear filters; Observers; Robots; Signal processing; Uncertain systems; Fault detection and isolation; H; fault identification; robot actuators;
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
DOI :
10.1109/IROS.2005.1545370