Faul tolerant tracking of a robot manipulator: an internal model based approach

The chapter is devoted to the presentation of a novel fault detection and control reconfiguration problem. An implicit fault tolerant control scheme is presented and specialized for an n-degree-of-freedom fully actuated mechanical manipulator subject to sinusoidal torque disturbances acting on the joints. The solution of the usual tracking main problem is "augmented" via an internal model unit designed to compensate the unknown spurious torque armonics. Testing the state of such unit allows fault detection and isolation. Simulations are provided.