An fast reconstruction approach for actuator fault in robot manipulators

Bing Xiao; Shen Yin

doi:10.1109/VSS.2016.7506955

An fast reconstruction approach for actuator fault in robot manipulators

Bing Xiao, Shen Yin

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

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.

Original language	English
Title of host publication	2016 14th International Workshop on Variable Structure Systems, VSS 2016
Publisher	IEEE Computer Society
Pages	414-419
Number of pages	6
ISBN (Electronic)	9781467397889
DOIs	https://doi.org/10.1109/VSS.2016.7506955
State	Published - 7 Jul 2016
Externally published	Yes
Event	14th International Workshop on Variable Structure Systems, VSS 2016 - Nanjing, China Duration: 1 Jun 2016 → 4 Jun 2016

Publication series

Name	Proceedings of IEEE International Workshop on Variable Structure Systems
Volume	2016-July
ISSN (Print)	2165-4816
ISSN (Electronic)	2165-4824

Conference

Conference	14th International Workshop on Variable Structure Systems, VSS 2016
Country/Territory	China
City	Nanjing
Period	1/06/16 → 4/06/16

Keywords

actuator fault
fault reconstruction
finite-time
robot manipulator
terminal sliding mode observer

Access to Document

10.1109/VSS.2016.7506955

Cite this

@inproceedings{21b04b7701fc44b7ad150df223c5db15,

title = "An fast reconstruction approach for actuator fault in robot manipulators",

abstract = "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.",

keywords = "actuator fault, fault reconstruction, finite-time, robot manipulator, terminal sliding mode observer",

author = "Bing Xiao and Shen Yin",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 14th International Workshop on Variable Structure Systems, VSS 2016 ; Conference date: 01-06-2016 Through 04-06-2016",

year = "2016",

month = jul,

day = "7",

doi = "10.1109/VSS.2016.7506955",

language = "英语",

series = "Proceedings of IEEE International Workshop on Variable Structure Systems",

publisher = "IEEE Computer Society",

pages = "414--419",

booktitle = "2016 14th International Workshop on Variable Structure Systems, VSS 2016",

}

Xiao, B & Yin, S 2016, An fast reconstruction approach for actuator fault in robot manipulators. in 2016 14th International Workshop on Variable Structure Systems, VSS 2016., 7506955, Proceedings of IEEE International Workshop on Variable Structure Systems, vol. 2016-July, IEEE Computer Society, pp. 414-419, 14th International Workshop on Variable Structure Systems, VSS 2016, Nanjing, China, 1/06/16. https://doi.org/10.1109/VSS.2016.7506955

An fast reconstruction approach for actuator fault in robot manipulators. / Xiao, Bing; Yin, Shen.
2016 14th International Workshop on Variable Structure Systems, VSS 2016. IEEE Computer Society, 2016. p. 414-419 7506955 (Proceedings of IEEE International Workshop on Variable Structure Systems; Vol. 2016-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - An fast reconstruction approach for actuator fault in robot manipulators

AU - Xiao, Bing

AU - Yin, Shen

PY - 2016/7/7

Y1 - 2016/7/7

N2 - 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.

AB - 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.

KW - actuator fault

KW - fault reconstruction

KW - finite-time

KW - robot manipulator

KW - terminal sliding mode observer

UR - http://www.scopus.com/inward/record.url?scp=84980361828&partnerID=8YFLogxK

U2 - 10.1109/VSS.2016.7506955

DO - 10.1109/VSS.2016.7506955

M3 - 会议稿件

AN - SCOPUS:84980361828

T3 - Proceedings of IEEE International Workshop on Variable Structure Systems

SP - 414

EP - 419

BT - 2016 14th International Workshop on Variable Structure Systems, VSS 2016

PB - IEEE Computer Society

T2 - 14th International Workshop on Variable Structure Systems, VSS 2016

Y2 - 1 June 2016 through 4 June 2016

ER -

An fast reconstruction approach for actuator fault in robot manipulators

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this