Joint synthesis of controller and fault detector for force control of robot

摘要

In this paper, a joint synthesis method of controller and fault detector is presented. 2 degree-of-freedom control systems have a residual generator internally, which plays an essential role in a fault detector. These two residual generator can be packed into one multi-output residual generator and be designed simultaneously. The designed fault tolerant control system is applied to a force-control of robot. Usefulness of the proposed method is verified through computer simulations.