Fault tolerant control for a robust nonlinear robotics via an optimal H∞ scheme

This paper presents a new optimal Fault tolerant control FTC, which includes anew optimal theorem to design a H_∞ controller and new reconfiguration algorithm to reconfigure the controller law. The achieved FTC technique has been applied for Double Two Joints Inverted TJIRA robots arms which raise a plate where the weight of it distributed evenly on the two TJIRA. The study has been carried out different conditions in terms of an additive fault and a white noise as disturbance, where the angles of the two arms position have been considered. As results, Matlab simulation of a TJIRA is undertaken while CVX optimizing software is used to obtain the optimal parameters and to verify the performance of the proposed theorem. The simulation results are obtained to show the high performance of the proposed FTC technique which reflects on the speed of the arms motion to overcome on the effects of the fault and noise.

I. Introduction

The aim of this paper is to investigate the FTC theorem depending on optimization via - gain performance. Therefore, in this paper a static output feedback design for a nonlinear dynamic model of the robot has been studied through solving a Hamilton-Jacobi Inequality (HJI). To obtain optimal parameters and apply the proposed theorems, the Nonlinear LMI using CVX software (which is conveniently formulate and solve constrained norm minimization and determinant maximization) has been used.