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RISS 인기검색어
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- 저자 : Zainab Shahid Awan (검색결과 1 건)
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Adaptive Backstepping Based Sensor and Actuator Fault Tolerant Control of a Manipulator
Zainab Shahid Awan,Khurram Ali,Jamshed Iqbal,Adeel Mehmood 대한전기학회 2019 Journal of Electrical Engineering & Technology Vol.14 No.6
The purpose of this research is to propose and design fault tolerant control (FTC) scheme for a robotic manipulator, to increase its reliability and performance in the presence of actuator and sensor faults. To achieve the said objectives, a hybrid control law relying on observer and hardware redundancy-based technique has been formulated in this paper. Non-linear observers are designed to estimate the unknown states. The comparison of actual states and observed states lead to fault identifcation, this is followed by fault tolerance accomplished with redundant sensors. For actuator fault tolerance, fault estimation and controller reconfguration techniques are applied in addition to nominal control law. Fault estimation is based on adaptive back-stepping technique and it is further used to construct actuator fault tolerant control. The proposed method is applied to a six degree of freedom (DOF) robotic manipulator model and the efectiveness of this technique is verifed by LabVIEW simulations. Simulation results witnessed the improved tracking performance in the presence of actuator and sensor failures
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