Switched time delay control based on artificial neural network for fault detection and compensation in robot manipulators

Abstract This work proposes a switched time delay control scheme based on neural networks for robots subjected to sensors faults. In this scheme, multilayer perceptron ( MLP ) artificial network ANN is introduced reproduce the same behavior of robot in case no The reproduction characteristic s allows instant detection any important sensor order compensate effects these faults robot’s behavior, TDC procedure presented. proposed controller composed two laws: first one contains small gain applied faultless robot, while second uses high that method system decided results which switches from law where an fault detected. Simulations are performed SCARA arm manipulator illustrate feasibility and effectiveness controller. demonstrate free-model aspect makes it highly suitable industrial applications.