Adaptive Observer-Based Fault Diagnosis and Model Predictive Fault-Tolerant Control for Actuator Faults in Robotic Manipulators

This article proposes a fault diagnosis scheme for the fault diagnosis and fault-tolerant control of a robotic arm actuator based on an adaptive fault observer. The research focuses on the dynamic model of the robotic arm. In case of an actuator fault, an adaptive fault observer is designed to obtain fault information, complete fault detection and fault estimation, and then utilize the Lyapunov stability theorem to analyze the stability of the observation error system. Based on this analysis, a model predictive fault-tolerant controller is designed to enable the robotic arm to accurately follow the desired trajectory. The effectiveness of the algorithm is then verified through simulation examples.