Fault Identification in Electric Servo Actuators of Robot Manipulators Described by Nonstationary Nonlinear Dynamic Models Using Sliding Mode Observers

The problem of fault identification in electric servo actuators of robot manipulators described by nonstationary nonlinear dynamic models under disturbances is considered. To solve the problem, sliding mode observers are used. The suggested approach is based on the reduced order model of the origina...

Descripción completa

Detalles Bibliográficos
Autores principales: Zuev, Alexander, Zhirabok, Alexey N., Filaretov, Vladimir, Protsenko, Alexander
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Communication
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8749842/
https://www.ncbi.nlm.nih.gov/pubmed/35009859
http://dx.doi.org/10.3390/s22010317
_version_ 1784631326541873152
author Zuev, Alexander
Zhirabok, Alexey N.
Filaretov, Vladimir
Protsenko, Alexander
author_facet Zuev, Alexander
Zhirabok, Alexey N.
Filaretov, Vladimir
Protsenko, Alexander
author_sort Zuev, Alexander
collection PubMed
description The problem of fault identification in electric servo actuators of robot manipulators described by nonstationary nonlinear dynamic models under disturbances is considered. To solve the problem, sliding mode observers are used. The suggested approach is based on the reduced order model of the original system having different sensitivity to faults and disturbances. This model is realized in canonical form that enables relaxing the limitation imposed on the original system. Theoretical results are illustrated by practical example.
format Online
Article
Text
id pubmed-8749842
institution National Center for Biotechnology Information
language English
publishDate 2022
publisher MDPI
record_format MEDLINE/PubMed
spelling pubmed-87498422022-01-12 Fault Identification in Electric Servo Actuators of Robot Manipulators Described by Nonstationary Nonlinear Dynamic Models Using Sliding Mode Observers Zuev, Alexander Zhirabok, Alexey N. Filaretov, Vladimir Protsenko, Alexander Sensors (Basel) Communication The problem of fault identification in electric servo actuators of robot manipulators described by nonstationary nonlinear dynamic models under disturbances is considered. To solve the problem, sliding mode observers are used. The suggested approach is based on the reduced order model of the original system having different sensitivity to faults and disturbances. This model is realized in canonical form that enables relaxing the limitation imposed on the original system. Theoretical results are illustrated by practical example. MDPI 2022-01-01 /pmc/articles/PMC8749842/ /pubmed/35009859 http://dx.doi.org/10.3390/s22010317 Text en © 2022 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Communication
Zuev, Alexander
Zhirabok, Alexey N.
Filaretov, Vladimir
Protsenko, Alexander
Fault Identification in Electric Servo Actuators of Robot Manipulators Described by Nonstationary Nonlinear Dynamic Models Using Sliding Mode Observers
title Fault Identification in Electric Servo Actuators of Robot Manipulators Described by Nonstationary Nonlinear Dynamic Models Using Sliding Mode Observers
title_full Fault Identification in Electric Servo Actuators of Robot Manipulators Described by Nonstationary Nonlinear Dynamic Models Using Sliding Mode Observers
title_fullStr Fault Identification in Electric Servo Actuators of Robot Manipulators Described by Nonstationary Nonlinear Dynamic Models Using Sliding Mode Observers
title_full_unstemmed Fault Identification in Electric Servo Actuators of Robot Manipulators Described by Nonstationary Nonlinear Dynamic Models Using Sliding Mode Observers
title_short Fault Identification in Electric Servo Actuators of Robot Manipulators Described by Nonstationary Nonlinear Dynamic Models Using Sliding Mode Observers
title_sort fault identification in electric servo actuators of robot manipulators described by nonstationary nonlinear dynamic models using sliding mode observers
topic Communication
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8749842/
https://www.ncbi.nlm.nih.gov/pubmed/35009859
http://dx.doi.org/10.3390/s22010317
work_keys_str_mv AT zuevalexander faultidentificationinelectricservoactuatorsofrobotmanipulatorsdescribedbynonstationarynonlineardynamicmodelsusingslidingmodeobservers
AT zhirabokalexeyn faultidentificationinelectricservoactuatorsofrobotmanipulatorsdescribedbynonstationarynonlineardynamicmodelsusingslidingmodeobservers
AT filaretovvladimir faultidentificationinelectricservoactuatorsofrobotmanipulatorsdescribedbynonstationarynonlineardynamicmodelsusingslidingmodeobservers
AT protsenkoalexander faultidentificationinelectricservoactuatorsofrobotmanipulatorsdescribedbynonstationarynonlineardynamicmodelsusingslidingmodeobservers

Ejemplares similares