A Realization Method of Fault-tolerant Control of Flexible Arm under Sensor Fault by Using an Adaptive Sensor Signal Observer

Yu Izumikawa; Kazuhiro Yubai; Junji Hirai

A Realization Method of Fault-tolerant Control of Flexible Arm under Sensor Fault by Using an Adaptive Sensor Signal Observer

Yu Izumikawa

Kazuhiro Yubai

Junji Hirai

Vol. 6, No. 1, pp. 8-17, Jan. 2006

10.6113/JPE.2006.6.1.8

Fault-tolerance

sensor fault

flexible arm

reaction force estimation

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Abstract

In this paper, we propose a fault-tolerant control system for the position control and vibration suppression of a flexible arm robot. The proposed control system has a strain gauge sensor signal observer based on a reaction force observer and detects a fault by monitoring an estimated error. In order to improve the estimation accuracy, the plant parameters included in the sensor signal observer are updated by using the strain gauge sensor signal in normal time through the adaptive law. After fault detection, the proposed control system exchanges the faulty sensor signal for the estimated one and switches to a fault mode controller so as to maintain the stability and the control performance. We confirmed the effectiveness of the proposed control system through several experiments.

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Cite this article

[IEEE Style]

Y. Izumikawa, K. Yubai, J. Hirai, "A Realization Method of Fault-tolerant Control of Flexible Arm under Sensor Fault by Using an Adaptive Sensor Signal Observer," Journal of Power Electronics, vol. 6, no. 1, pp. 8-17, 2006. DOI: 10.6113/JPE.2006.6.1.8.

[ACM Style]

Yu Izumikawa, Kazuhiro Yubai, and Junji Hirai. 2006. A Realization Method of Fault-tolerant Control of Flexible Arm under Sensor Fault by Using an Adaptive Sensor Signal Observer. Journal of Power Electronics, 6, 1, (2006), 8-17. DOI: 10.6113/JPE.2006.6.1.8.