<abstract xmlns="http://www.w3.org/1999/xhtml"><p>This paper presents the fault tolerant control (FTC) of a flexible joint robot using singular perturbation method in order to compensate for the lost performance due to the occurrence of actuator fault and the uncertainty. This FTC is based on Lyapunov redesign principle. The singular perturbation method is used to reduce the dynamic model of the flexible joint robot in a fast and slow subsystem. The time scale reduction of the flexible joint model is carried out when their joint stiffness is large enough and the singular perturbation parameter is set to zero. The fault-tolerant control structure in this paper is based on two parts. The first term described the composite control for the system without defect and without uncertainty which represents the sum between slow and fast controllers. While the second term of the fault tolerant command describes additive control designed to compensate for the fault effect of the actuator on the uncertain system. The additive approach is based on the Lyapunov theorem, which guarantees asymptotic stability despite the presence of actuator defects and the parametric uncertainty. The theoretical results are applied on a robot manipulator with a single flexible joint.</p></abstract>

This paper presents the fault tolerant control (FTC) of a flexible joint robot using singular perturbation method in order to compensate for the lost performance due to the occurrence of actuator fault and the uncertainty. This FTC is based on Lyapunov redesign principle. The singular perturbation method is used to reduce the dynamic model of the flexible joint robot in a fast and slow subsystem. The time scale reduction of the flexible joint model is carried out when their joint stiffness is large enough and the singular perturbation parameter is set to zero. The fault-tolerant control structure in this paper is based on two parts. The first term described the composite control for the system without defect and without uncertainty which represents the sum between slow and fast controllers. While the second term of the fault tolerant command describes additive control designed to compensate for the fault effect of the actuator on the uncertain system. The additive approach is based on the Lyapunov theorem, which guarantees asymptotic stability despite the presence of actuator defects and the parametric uncertainty. The theoretical results are applied on a robot manipulator with a single flexible joint.

Reconfigurable control of flexible joint robot with actuator fault and uncertainty

Higher Institute of Technological Studies at Djerba (ISETJB)

Journal of Electrical Engineering

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

This paper presents the fault tolerant control (FTC) of a flexible joint robot using singular perturbation method in order to compensate for the lost...

Reconfigurable control of flexible joint robot with actuator fault and uncertainty

Published Online: May 13, 2019

Page range: 130 - 137

Received: Feb 23, 2019

DOI: https://doi.org/10.2478/jee-2019-0019

Keywords
uncertain flexible joint robot manipulators, singular perturbation method, additive fault tolerant control, actuator defect, Lyapunov theory

© 2019 Aymen Elghoul et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Reconfigurable control of flexible joint robot with actuator fault and uncertainty

Published Online: May 13, 2019

Page range: 130 - 137

Received: Feb 23, 2019

DOI: https://doi.org/10.2478/jee-2019-0019

Keywordsuncertain flexible joint robot manipulators, singular perturbation method, additive fault tolerant control, actuator defect, Lyapunov theory

© 2019 Aymen Elghoul et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
uncertain flexible joint robot manipulators, singular perturbation method, additive fault tolerant control, actuator defect, Lyapunov theory