IDEAS home Printed from https://ideas.repec.org/a/gam/jeners/v12y2019i7p1281-d219613.html
   My bibliography  Save this article

Advanced Adaptive Fault Diagnosis and Tolerant Control for Robot Manipulators

Author

Listed:
  • Farzin Piltan

    (Department of Electrical, Electronics and Computer Engineering, University of Ulsan, Ulsan 680-479, Korea)

  • Cheol-Hong Kim

    (School of Electronics and Computer Engineering, Chonnam National University, Gwang-Ju 61186, Korea)

  • Jong-Myon Kim

    (School of IT Convergence, University of Ulsan, Ulsan 680-479, Korea)

Abstract

In this paper, an adaptive Takagi–Sugeno (T–S) fuzzy sliding mode extended autoregressive exogenous input (ARX)–Laguerre proportional integral (PI) observer is proposed. The proposed T–S fuzzy sliding mode extended-state ARX–Laguerre PI observer adaptively improves the reliability, robustness, estimation accuracy, and convergence of fault detection, estimation, and identification. For fault-tolerant control in the presence of uncertainties and unknown conditions, an adaptive fuzzy sliding mode estimation technique is introduced. The sliding surface slope gain is significant to improve the system’s stability, but the sliding mode technique increases high-frequency oscillation (chattering), which reduces the precision of the fault diagnosis and tolerant control. A fuzzy procedure using a sliding surface and actual output position as inputs can adaptively tune the sliding surface slope gain of the sliding mode fault-tolerant control technique. The proposed robust adaptive T–S fuzzy sliding mode estimation extended-state ARX–Laguerre PI observer was verified with six degrees of freedom (DOF) programmable universal manipulation arm (PUMA) 560 robot manipulator, proving qualified efficiency in detecting, isolating, identifying, and tolerant control for faults inherent in sensors and actuators. Experimental results showed that the proposed technique improves the reliability of the fault detection, estimation, identification, and tolerant control.

Suggested Citation

  • Farzin Piltan & Cheol-Hong Kim & Jong-Myon Kim, 2019. "Advanced Adaptive Fault Diagnosis and Tolerant Control for Robot Manipulators," Energies, MDPI, vol. 12(7), pages 1-22, April.
    • Handle: RePEc:gam:jeners:v:12:y:2019:i:7:p:1281-:d:219613
    as

    Download full text from publisher

    File URL: https://www.mdpi.com/1996-1073/12/7/1281/pdf
    Download Restriction: no
    File URL: https://www.mdpi.com/1996-1073/12/7/1281/
    Download Restriction: no
    ---><---

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Zhao Zhang & Xiao He, 2020. "Fault-Structure-Based Active Fault Diagnosis: A Geometric Observer Approach," Energies, MDPI, vol. 13(17), pages 1-17, August.

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:gam:jeners:v:12:y:2019:i:7:p:1281-:d:219613. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: MDPI Indexing Manager (email available below). General contact details of provider: https://www.mdpi.com .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.