Fault diagnosis of a robot manipulator based on an ARX-laguerre fuzzy PID observer

Abstract

This paper presents a stable ARX-Laguerre fuzzy proportional-integral-derivative observation (FPIDO) system for fault detection and identification (FDI) of actuator and sensor faults in a multi-degrees of freedom robot manipulator. An ARX-Laguerre technique is used in this paper to improve the system modeling in the presence of uncertainty and disturbance in a robot manipulator. The proposed FPIDO is applied to the ARX-Laguerre procedure to modify fault detection, estimation and identification to reduce the system’s order. Fuzzy coefficient scheduling is utilized to modify the convergence with respect to the minimum error.