Decentralized active fault tolerant control for modular and reconfigurable robot with torque sensor

摘要

A decentralized active fault tolerant control strategy based on sliding mode observer is proposed for the modular and reconfigurable robots with actuator fault. The radial basis function (RBF) is adopted to eliminate the effect of model uncertainty, including the interconnection term and friction term. Moreover, the sliding mode observer is used to obtain fault information. Experiments is carried out on 2-DOF MRRs to investigate the effectiveness of the proposed method.