Fault Detection and Fault-Tolerant Control for Water Hydraulic Robots Driven by Air-Hydraulic Servo Booster

摘要

This paper reports on fault detection and fault-tolerant control for the safe operation of water hydraulic robots equipped with Air-Hydraulic Servo Boosters (AHSB). By maximally utilizing the redundant sensors embedded in AHSB, model-based algorithms of failure detection, isolation and identification are implemented using Kalman filter and disturbance observer. Simulation results show that a single-joint robot arm can continue position-tracking tasks against sudden disconnection of sensors, internal friction fluctuation, and external torque application, hence demonstrating the effectiveness of the proposed method.