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A Robust Observer for Sensor Faults Estimation on n-DOF Manipulator in Constrained Framework Environment

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Abstract
This paper presents a fault-tolerant control (FTC) based on impedance control and full state feedback backstepping sliding mode control (FBSMC) algorithm for an n degree of freedoms (n-DOF) serial hydraulic manipulator under the presence of matched and mismatched uncertainties and sensor faults in the constrained framework. These faulty signals, generated from unknown constant or time-variant offset values, happen on both manipulator joint angles and force sensors; thereby degrading the system performance. Therefore, to address both matched and mismatched uncertainties and signal faults, the system dynamics
subjects to the sensor faults is mathematically modeled. Then, the robust fault estimation algorithm based on extended state observer (ESO) is proposed to estimate the system state and faulty signals for the FTC design to achieve the force and position tracking performance. System stability of the proposed control scheme is theoretically proven by performing Lyapunov theorems. Finally, comparative simulation results are given on a 3-DOF serial hydraulic manipulator to evaluate the effectiveness of the proposed fault estimation and FTC methodology.
Author(s)
안경관쩐 득 티엔쯔엉 호아이 부 안찐 호아이 안
Issued Date
2021
Type
Article
Keyword
ActuatorsEnd effectorsEstimationextended state observer (ESO)fault-tolerant control (FTC)Forceforce controlImpedanceimpedance controlObserversRobot sensing systemsSensor fault estimation
DOI
10.1109/ACCESS.2021.3087505
URI
https://oak.ulsan.ac.kr/handle/2021.oak/8877
https://ulsan-primo.hosted.exlibrisgroup.com/primo-explore/fulldisplay?docid=TN_cdi_doaj_primary_oai_doaj_org_article_855bcada15334dce929ef712f0bfcb46&context=PC&vid=ULSAN&lang=ko_KR&search_scope=default_scope&adaptor=primo_central_multiple_fe&tab=default_tab&query=any,contains,A%20Robust%20Observer%20for%20Sensor%20Faults%20Estimation%20on%20n-DOF%20Manipulator%20in%20Constrained%20Framework%20Environment&offset=0&pcAvailability=true
Publisher
IEEE ACCESS
Location
미국
Language
영어
ISSN
2169-3536
Citation Volume
9
Citation Number
1
Citation Start Page
88439
Citation End Page
88451
Appears in Collections:
Engineering > Mechanical and Automotive Engineering
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