Fault Detection for Robot Manipulators via Second-Order Sliding Modes

被引：83

作者：

Brambilla, Daniele ^{[1
]}

Capisani, Luca Massimiliano ^{[2
]}

Ferrara, Antonella ^{[2
]}

Pisu, Pierluigi ^{[3
]}

机构：

[1] Ente Nazl Idrocarburi Res Inst, I-20097 San Donato Milanese, Italy

[2] Univ Pavia, Dept Comp & Syst Sci, I-27100 Pavia, Italy

[3] Clemson Univ, Dept Mech Engn, Clemson, SC 29634 USA

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2008年 / 55卷 / 11期

关键词：

Fault diagnosis; fault location; manipulators; robustness; variable structure systems;

D O I：

10.1109/TIE.2008.2005932

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a model-based fault detection (FD) and isolation scheme for rigid manipulators. A single fault acting on a specific actuator or on a specific sensor of the manipulator is detected (and, if possible, the exact location of the fault), and an estimation of the fault signal is performed. Input-signal estimator and output observers are considered in order to make the FD procedure possible. By using the suboptimal second-order sliding-mode (SOSM) algorithm to design the input laws of the observers, satisfactory stability properties of the observation error are established. The proposed algorithm is verified in simulation and experimentally on a COMAU SMART3-S2 robot manipulator.

引用

页码：3954 / 3963

页数：10

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