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
Authors
Projects associated
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.
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