A new fault-tolerant control scheme for a robot collaborative system

Abstract

A new active fault-tolerant control scheme is presented for a nonlinear collaborative system which contains two subsystems. The scheme is to use the fault-free subsystem to compensate the fault influence of the faulty subsystem on the whole system. When one faulty subsystem could not repair its own fault to the influence on the whole system, the controller of the fault-free subsystem is reconfigured using the fault diagnosis information, leading to the fault tolerant control of the nonlinear collaborative system. Simulations of the control for a robot collaborative system show the effectiveness of the proposed scheme.