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Integration control and failure detection with application to the robot payload variation problem |
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| Authors: | K. P. Valavanis C. A. Jacobson B. H. Gold |
| Affiliation: | (1) The Center for Advanced Computer Studies, The University of SW Louisiana, 70504 Lafayette, LA, USA;(2) Department of ECE, Northeastern University, 02115 Boston, MA, USA;(3) Digital Equipment Corporation, 333 South St., 01545 Shrewsbury, MA, USA |
| Abstract: | The problem of integrated control and failure detection of robot payload variations during the execution of a task is investigated by incorporating failure diagnostic methods based on the novel 4-parameter control configuration. The combined controller and failure detection system is a complex design involving nontrivial combination of parameters related to two independent designs: the doubly coprime factorization-based compensator design and failure detection design. The combined design provides a generic setting to study fundamental tradeoffs present in a simultaneous control and diagnostic system. The PUMPA-560 robot arm is used as a case study for the combined design. |
| Keywords: | Four parameter controller failure and diagnostic system diagnostic capability disturbance monitor doubly coprime fractional representation proportional and derivative controller |
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