Fault detection and isolation using sliding mode observers with sensor fault in robot manipulator

摘要

Interest in fault detection and isolation (FDI) for nonlinear systems has grown significantly in recent years. The design of a residual generator for FDI in nonlinear systems which are affine in the control signals and in the failure modes is studied. The (FDI) approach is used to detect sensor faults on a robot manipulator that occurs on a system's specific component. The sliding mode observer is one of the FDI's methods, which are used to generate residuals when sensor faults is presented. This paper aims to improve the detection of sensor faults for an affine nonlinear system class. For a better detection of faults, a proportional derivative (PD) controller is used to improve the system's stability. Both the aforementioned method and the (PD) controller are based on the Lyapunov equation. The proposed approach is verified in simulation on a robot manipulator.