TY - JOUR
T1 - Manipulator fault diagnosis via higher order sliding-mode observers
AU - Capisani, Luca Massimiliano
AU - Ferrara, Antonella
AU - Ferreira De Loza, Alejandra
AU - Fridman, Leonid M.
N1 - Funding Information:
Dr. Capisani was the recipient of the “Diploma in Commercial and Computer Science” in 2001, awarded by the Young Industrial Association of Mantua.
PY - 2012/10
Y1 - 2012/10
N2 - A diagnostic scheme for actuator and sensor 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 are proposed to provide the necessary analytical redundancy. The detection of sensor faults, instead, is made by relying on a generalized observer scheme. The observer input laws are designed according to two well-known second-order sliding-mode approaches: the so-called supertwisting and the suboptimal one. Both typologies of input laws allow to perform a satisfactory FD. The peculiarities of each input law of the observers are discussed. To make possible fault isolation, it is required that a single fault acts only on one component of the system at a time. If one knows that faults occurred only on actuators, then it is possible to isolate multiple simultaneous faults on actuators. The proposed approach is verified in simulation and experimentally on a COMAU SMART3-S2 robot manipulator.
AB - A diagnostic scheme for actuator and sensor 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 are proposed to provide the necessary analytical redundancy. The detection of sensor faults, instead, is made by relying on a generalized observer scheme. The observer input laws are designed according to two well-known second-order sliding-mode approaches: the so-called supertwisting and the suboptimal one. Both typologies of input laws allow to perform a satisfactory FD. The peculiarities of each input law of the observers are discussed. To make possible fault isolation, it is required that a single fault acts only on one component of the system at a time. If one knows that faults occurred only on actuators, then it is possible to isolate multiple simultaneous faults on actuators. The proposed approach is verified in simulation and experimentally on a COMAU SMART3-S2 robot manipulator.
KW - Fault diagnosis
KW - fault location
KW - generalized observer scheme
KW - manipulators
KW - robots
KW - robustness
KW - variable structure systems
UR - http://www.scopus.com/inward/record.url?scp=84860442718&partnerID=8YFLogxK
U2 - 10.1109/TIE.2012.2189534
DO - 10.1109/TIE.2012.2189534
M3 - Artículo
SN - 0278-0046
VL - 59
SP - 3979
EP - 3986
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 10
M1 - 6177237
ER -