Abstract
The problem of fault identification in electric servo actuators of robot manipulators described by nonstationary nonlinear dynamic models under disturbances is considered. To solve the problem, sliding mode observers are used. The suggested approach is based on the reduced order model of the original system having different sensitivity to faults and disturbances. This model is realized in canonical form that enables relaxing the limitation imposed on the original system. Theoretical results are illustrated by practical example.
Highlights
Different industrial equipment, in particular, robot manipulators and consumer devices often have crucial applications in their everyday life in industrial plants
The main contribution of this paper is that sliding mode observers (SMO) are constructed for robot manipulators described by nonstationary nonlinear dynamic models not satisfying matching, minimum phase, and detectability conditions
The problem of fault identification in robot manipulators described by nonstationary nonlinear dynamic models under disturbances based on sliding mode observers has been studied
Summary
In particular, robot manipulators and consumer devices often have crucial applications in their everyday life in industrial plants. To design SMO for robot manipulators described by nonstationarity dynamic models with nonsmooth nonlinearities, we do not use matching, minimum phase, and detectability conditions. The main contribution of this paper is that SMOs are constructed for robot manipulators described by nonstationary nonlinear dynamic models not satisfying matching, minimum phase, and detectability conditions. This is a result of the fact that SMO is not constructed for the original system but for its reduced order model invariant with respect to the disturbance.
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