FAULT DIAGNOSIS AND FAULT-TOLERANT CONTROL OF NETWORKED MANIPULATOR SYSTEM WITH ACTUATOR FAULT

In this paper, a fault diagnosis and fault-tolerant control scheme is proposed for the actuator fault in the networked manipulator system. The advantage of this scheme is that the observer has a simple design structure, and the designed controller can eliminate not only the impact of the fault, but also the time-delay. In the fault diagnosis, the fault estimation law based on the adaptive observer is given by the residual, to diagnose the fault estimation accurately and quickly, and the residual is established by the time-delay state due to the time-delay in the network system. By using the fault information, a PD controller plus the compensation fault-tolerant controller is designed to compensate for the impact of the actuator fault and time delay. And the sliding mode controller is introduced to be combined with the PD controller to further improve the control performance, which ensures that the effects of time-delays are eliminated while the effects of fault are tolerated. Finally, the effectiveness of the above scheme is verified by the simulation results.