Trabajo presentado en la 4th Conference on Control and Fault Tolerant Systems (SysTol), celebrada en Casablanca (Marruecos), del 18 al 20 de septiembre de 2019 ; 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.
Fault-tolerant control of a service robot using a LPV robust unknown input observer
2019-10-14
Conference paper
Electronic Resource
English
DDC: | 629 |
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