A robust new nonlinear fault tolerant control for robot via an observer

摘要

To study the properties of the nonlinear robot model and introduce a new adaptive fault tolerant strategy, this paper has been introduced. The adaptive fault tolerant control scheme is designed via two (PID) Proportional -Integral - derivative controllers and a nonlinear observer. The nonlinear model of two inverted robot joints arms on a cart and has been studied and simulated with presence of an additive fault and a disturbance (white noise) in the system. The nonlinear adaptive observer is designed to eliminate the effect of the Coriolis and centrifugal torque and detect the fault and noise. The two PID controllers compensate the errors to increase the integrity of the strategy. The proposed strategy reconfigures the control law to overcome the errors and faults. An illustrated example is simulated and the encouraged results have been obtained.