166 Int. J. Advanced Mechatronic Systems, Vol. 6, No. 4, 2015
Fault-tolerant control scheme for manipulator with
actuator and sensor failure
Bailing Tian*
School of Electrical Engineering and Automation,
Tianjin University,
Tianjin, China
Email: bailing tian@tju.edu.cn
*Corresponding author
Zhuo Wang
Fok Ying Tung Graduate School,
Hong Kong University of Science and Technology,
Clear Water Bay, Kowloon, Hong Kong
Email: zwang8381@foxmail.com
Xiaomo Yan and Hong Wang
School of Electrical and Electronic Engineering,
The University of Manchester,
Manchester, UK
Email: xiaomo.yan.life@gmail.com
Email: hong.wang@manchester.ac.uk
Abstract: The fault control for manipulator with actuator and sensor faults is investigated. For
actuator fault, a fault observer is designed based on multivariable second order sliding mode
to estimate this fault information in finite time. Then, the estimated values are incorporated
into continuous controller to compensate the real actuator fault. In presence of both actuator
and position (or velocity) sensor faults, the failure sensor is discarded and a state observer is
designed using second order sliding mode to estimate the position (or velocity) information in
finite time. Meanwhile, the actuator fault is reconstructed through equivalent control method
when the sliding mode motion is achieved. The effectiveness of the proposed fault control
scheme is verified in simulation.
Keywords: multivariable control; finite time convergence; manipulator with actuator and sensor
fault.
Reference to this paper should be made as follows: Tian, B., Wang, Z., Yan, X. and Wang, H.
(2015) ‘Fault-tolerant control scheme for manipulator with actuator and sensor failure’, Int. J.
Advanced Mechatronic Systems, Vol. 6, No. 4, pp.166-173.
Biographical notes: Bailing Tian received his BS, MS and PhD in Automatic Control from
Tianjin University, Tianjin China in 2006, 2008 and 2011, respectively. Since 2011, he has
been with School of Electrical Engineering and Automation, Tianjin, University, where he is
currently a Lecturer. He visited the University of Manchester from 2014 to 2015. His main
research interests include finite time control and integrated guidance and control for RLV.
Zhuo Wang received his BE in Automation from Beihang University, Beijing, China, and
PhD in Electrical and Computer Engineering from University of Illinois at Chicago, USA. He
worked as a postdoctoral fellow in the Department of Electrical and Computer Engineering
at University of Alberta, Canada. He is currently a Research Assistant Professor at Fok Ying
Tung Graduate School, Hong Kong University of Science and Technology. His research interests
include data-based control, adaptive control, trajectory tracking control, and event-triggered
control.
Xiaomo Yan is currently a PhD student in the Control Systems Centre, University of Manchester,
Manchester, UK. His main research interests include nonlinear control and its application in
manipulator.
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