TY - GEN
T1 - Higher order sliding mode observers for actuator faults diagnosis in robot manipulators
AU - Capisani, Luca Massimiliano
AU - Ferrara, Antonella
AU - Ferreira, Alejandra
AU - Fridman, Leonid
PY - 2010
Y1 - 2010
N2 - A diagnostic scheme for actuator faults which can occur on a robot manipulator using a model-based Fault Diagnosis (FD) technique is addressed. With the proposed FD scheme it is possible to detect a fault, which can occur on a specific component of the system. To detect actuator faults, higher order sliding mode Unknown Input Observers (UIO) are proposed to make analytical redundancy. The observers input laws are designed according to the so-called Super-Twisting Second Order Sliding Mode Control (SOSMC) approach and they are proved to be capable of guaranteeing the exponential convergence of the fault estimate to the actual fault signal. The proposed approach is verified in simulation and experimentally on a COMAU SMART3-S2 robot manipulator.
AB - A diagnostic scheme for actuator faults which can occur on a robot manipulator using a model-based Fault Diagnosis (FD) technique is addressed. With the proposed FD scheme it is possible to detect a fault, which can occur on a specific component of the system. To detect actuator faults, higher order sliding mode Unknown Input Observers (UIO) are proposed to make analytical redundancy. The observers input laws are designed according to the so-called Super-Twisting Second Order Sliding Mode Control (SOSMC) approach and they are proved to be capable of guaranteeing the exponential convergence of the fault estimate to the actual fault signal. The proposed approach is verified in simulation and experimentally on a COMAU SMART3-S2 robot manipulator.
UR - http://www.scopus.com/inward/record.url?scp=78650315430&partnerID=8YFLogxK
U2 - 10.1109/ISIE.2010.5637768
DO - 10.1109/ISIE.2010.5637768
M3 - Contribución a la conferencia
AN - SCOPUS:78650315430
SN - 9781424463916
T3 - IEEE International Symposium on Industrial Electronics
SP - 2103
EP - 2108
BT - ISIE 2010 - 2010 IEEE International Symposium on Industrial Electronics
T2 - 2010 IEEE International Symposium on Industrial Electronics, ISIE 2010
Y2 - 4 July 2010 through 7 July 2010
ER -