Fault-tolerant control of a service robot

Abstract

In this chapter, the problem of fault-tolerant control of a service robot is addressed. The proposed approach is based on using a fault estimation scheme based on an Robust Unknown-Input Observer (RUIO) that allows to estimate the fault as well as the robot state. This fault estimation scheme is integrated with the control algorithm that is based on a observer-based state feedback control. 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 non-linear model is transformed into a Takagi-Sugeno model. Then, the statefeedback and RUIO are designed using an LMI-based approach considering a gainscheduling scheme. To illustrate the proposed fault-tolerant scheme a mobile service robot TIAGo, developed by PAL robotics, is used.