Fault-tolerant control of a service robot using a LPV robust unknown input observer
Cita com:
hdl:2117/181131
Document typeConference report
Defense date2019
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Rights accessOpen Access
Except where otherwise noted, content on this work
is licensed under a Creative Commons license
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Attribution-NonCommercial-NoDerivs 3.0 Spain
Abstract
In this paper, the control problem of a service robot under exogenous forces that might be exerted on the system is addressed, considering them as faults. Proposed approach is based on using a fault estimation scheme together with a Robust Unknown-Input Observer (RUIO) that allows to estimate the fault as well as the robot state, along with a state feedback control strategy. After the fault occurrence, from the fault estimation, a feedforward control action is added to the feedback control action to compensate the fault effect. To cope with the robot non-linearity, its model is transformed into a quasi-LPV model. Both the state-feedback and RUIO are designed using an LMI-based approach considering a gain-scheduling alike scheme, where global conditions have been considered. To illustrate the proposed fault-tolerant approach, a mobile service robot TIAGo, developed by PAL robotics, is used.
Description
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CitationSan Miguel, A.; Puig, V.; Alenyà, G. Fault-tolerant control of a service robot using a LPV robust unknown input observer. A: Conference on Control and Fault Tolerant Systems. "2019 4th Conference on Control and Fault Tolerant Systems (SysTol): proceedings". Institute of Electrical and Electronics Engineers (IEEE), 2019, p. 207-212.
ISBN9781728103815
Publisher versionhttps://ieeexplore.ieee.org/document/8864771
Collections
- IRI - Institut de Robòtica i Informàtica Industrial, CSIC-UPC - Ponències/Comunicacions de congressos [589]
- Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Ponències/Comunicacions de congressos [1.513]
- SAC - Sistemes Avançats de Control - Ponències/Comunicacions de congressos [582]
- ROBiri - Grup de Percepció i Manipulació Robotitzada de l'IRI - Ponències/Comunicacions de congressos [265]
- Doctorat en Automàtica, Robòtica i Visió - Ponències/Comunicacions de congressos [178]
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