Manipulator fault diagnosis via higher order sliding-mode observers

Luca Massimiliano Capisani, Antonella Ferrara, Alejandra Ferreira De Loza, Leonid M. Fridman

Resultado de la investigación: Contribución a una revistaArtículorevisión exhaustiva

108 Citas (Scopus)


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. © 2012 IEEE.
Idioma originalInglés estadounidense
Páginas (desde-hasta)3979-3986
Número de páginas3580
PublicaciónIEEE Transactions on Industrial Electronics
EstadoPublicada - 1 ene 2012
Publicado de forma externa


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