In this paper, an integrated scheme including fault diagnosis and fault-tolerant controller design is proposed for the manipulator\nsystem with the sensor fault. Any constant fault or time-varying fault can be estimated by the fault diagnosis scheme based on the\nadaptive observer rapidly and accurately, and the designed parameters can be solved by the linear matrix inequality. Using the\nfault estimation information, a fault-tolerant controller combining the characteristics of the proportional differentiation control\nand the sliding model control is designed to trace the expected trajectory via the back-stepping method. Finally, the effectiveness of\nthe above scheme is verified by the simulation results.
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