Publication

Fault-tolerant control of a service robot using a LPV robust unknown input observer

Conference Article

Conference

Conference on Control and Fault Tolerant Systems (SYSTOL)

Edition

4th

Pages

207-212

Doc link

https://doi.org/10.1109/SYSTOL.2019.8864771

File

Download the digital copy of the doc pdf document

Abstract

In this paper, the control problem of a service robot under exogenous forces that might be exerted on the system is addressed, considering them as faults. Proposed approach is based on using a fault estimation scheme together with a Robust Unknown-Input Observer (RUIO) that allows to estimate the fault as well as the robot state, along with a state feedback control strategy. After the fault occurrence, from the fault estimation, a feedforward control action is added to the feedback control action to compensate the fault effect. To cope with the robot non-linearity, its model is transformed into a quasi-LPV model. Both the state-feedback and RUIO are designed using an LMI-based approach considering a gain-scheduling alike scheme, where global conditions have been considered. To illustrate the proposed fault-tolerant approach, a mobile service robot TIAGo, developed by PAL robotics, is used.

Categories

fuzzy control, linear quadratic control.

Author keywords

Fault-tolerant control, Linear parameter varying, Unknown-input observer, Robustness, Service robot

Scientific reference

A. San Miguel, V. Puig and G. Alenyà. Fault-tolerant control of a service robot using a LPV robust unknown input observer, 4th Conference on Control and Fault Tolerant Systems, 2019, Casablanca, Morocco, pp. 207-212.