Learning Observer Based Fault Diagnosis and Fault Tolerant Control for Manipulators with Sensor Fault

In this paper, a learning observer (LO) based manipulators sensor fault diagnosis (FD) scheme is proposed. The dynamic model of the manipulator is taken as the research object and the effects of the disturbance is considered. When the fault occurs in the sensor, a learning observer is designed to obtain the fault information. Correspondingly the stability analysis of the observation error system is carried out using Lyapunov stability theorem. Then, a sliding mode fault tolerant controller is designed to make the manipulator can track the desired trajectory. Finally, a simulation example is given to prove the effectiveness of the algorithm.