Vibration suppression control of flexible arm robot by PD gain switching considering sensor failure

Abstract

In this paper, we propose a fault tolerant control system for sensor failures. This system can detect sensor failures by an observer-based fault detector and maintain stability and control performance by interrupting a faulty sensor signal and switching PD gains of the remaining sensors after fault detection. We apply the proposed control system to the vibration suppression control system of a one-link flexible arm robot and confirm the effectiveness of the proposed control system by some experiments.