An Intelligent Actuator Fault Reconstruction Scheme for Robotic Manipulators
提出一种基于观测器的智能方法，能快速精确重构机器人操作臂的执行器故障，且不依赖控制律、执行器动态模型和故障类型，仿真与实验验证了效果。
This paper investigates a difficult problem of reconstructing actuator faults for robotic manipulators. An intelligent approach with fast reconstruction property is developed. This is achieved by using observer technique. This scheme is capable of precisely reconstructing the actual actuator fault. It is shown by Lyapunov stability analysis that the reconstruction error can converge to zero after finite time. A perfect reconstruction performance including precise and fast properties can be provided for actuator fault. The most important feature of the scheme is that, it does not depend on control law, dynamic model of actuator, faults' type, and also their time-profile. This super reconstruction performance and capability of the proposed approach are further validated by simulation and experimental results.