An fast reconstruction approach for actuator fault in robot manipulators

A theoretical framework of fast actuator fault reconstruction approach design is presented for robot manipulators in this paper. Taking advantages of terminal sliding mode observer (TSMO) technique, a TSMO-based reconstruction law is developed. Using this approach, it is shown that the actual actuator fault can be reconstructed within a finite time. Moreover, zero reconstruction error is guaranteed. Hence, a fast and precise reconstruction performance for actuator fault is provided. Another key advantage of this approach is that, it is independent on robot controller, mathematical model of actuator fault and even its time-profile. Simulation results are presented to verify the reconstruction performance of the proposed approach.