Publication

Fault-tolerant control of a service robot

Book Chapter (2019)

Book Title

Fault Diagnosis and Fault-tolerant Control of Robotic Systems

Publisher

The Institution of Engineering and Technology

Pages

File

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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, . The Institution of Engineering and Technology, 2019.