Publication
Fault-tolerant control of a service robot
Book Chapter (2020)
Book Title
Fault Diagnosis and Fault-tolerant Control of Robotic Systems
Publisher
The Institution of Engineering and Technology
Pages
1-26
Doc link
https://doi.org/10.1049/PBCE126E_ch6
File
Authors
Projects associated
Abstract
In this chapter, the problem of fault-tolerant control of a service robot is addressed. The proposed approach is based on using a fault estimation scheme based on an Robust Unknown-Input Observer (RUIO) that allows to estimate the fault as well as the robot state. This fault estimation scheme is integrated with the control algorithm that is based on a observer-based state feedback control. 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 non-linear model is transformed into a Takagi-Sugeno model. Then, the state-feedback and RUIO are designed using an LMI-basedapproach considering a gain-scheduling scheme. To illustrate the proposed fault-tolerant scheme a mobile service robot TIAGo, developed by PAL robotics, is used.
Categories
fuzzy control, service robots.
Author keywords
Fault Tolerance, Takagi-Sugeno Model, LPV, LMI
Scientific reference
A. San-Miguel, V. Puig and G. Alenyà. Fault-tolerant control of a service robot. In Fault Diagnosis and Fault-tolerant Control of Robotic Systems, 1-26. The Institution of Engineering and Technology, 2020.
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