A Fault-Tolerant Control Strategy using Virtual Actuator Approach for Flexible Robot Links with Hysteresis

摘要

The purpose of this paper is to introduce an active strategy for designing a fault tolerant control system based on the virtual actuator. The proposed method is the fault hiding idea to compensate for the flexible robot links with hysteresis system faults composed of nonlinear dynamical equations. The control loop is configured so that any existing nominal controller designed for the fault-free system can continue to work in the presence of faults. The proposed technique is an active fault tolerant control strategy that reconfigures the virtual actuator with faults and operational point changes. The controller maintains the stability and performance of the closed-loop system at the time of the fault. The simulation results show that the control performance of the flexible robot links with the hysteresis system is desirable. Using the designed controller for the faulty system that deviates from the stable state, the output is stable.