A new actuator fault‐tolerant control for Lipschitz nonlinear system using adaptive sliding mode control strategy

2021 ◽  
Author(s):  
Salman Ijaz ◽  
Fuyang Chen ◽  
Mirza Tariq Hamayun
Keyword(s):  
Nonlinear System ◽  
Sliding Mode Control ◽  
Control Strategy ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Adaptive Sliding Mode Control ◽  
Actuator Fault ◽  
Adaptive Sliding Mode ◽  
Mode Control

scholarly journals An adaptive sliding mode actuator fault tolerant control scheme for octorotor system

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141983243 ◽  
Author(s):  
Fatima Ejaz ◽  
Mirza Tariq Hamayun ◽  
Shariq Hussain ◽  
Salman Ijaz ◽  
Shunkun Yang ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Adaptive Sliding Mode Control ◽  
Actuator Faults ◽  
Control Approach ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Control Scheme

In this article, an adaptive sliding mode control is used in the framework of fault tolerant control to mitigate the effects of actuator faults without requiring the actuator health information. Since unmanned aerial vehicles are being used in multiple fields such as military, surveillance, media, agriculture, communication and trading sector, therefore it is of vital importance to overcome the effects of actuator faults that can decline system performance and can even lead to some serious accidents. The proposed adaptive sliding mode control approach can handle actuator faults directly without requiring any faults information and adaptively adjusts controller gains to maintain acceptable level of performance. To validate the effectiveness of the proposed adaptive fault tolerant control scheme, it has been tested in simulations using non-linear Benchmark model of Octorotor system and its performance is compared with the optimal LQR control approach.

scholarly journals Adaptive sliding mode control of a novel cable driven robot model

2019 ◽  
Vol 13 (2) ◽  
pp. 5150-5162
Author(s):  
F. Inel ◽  
S. Babesse
Keyword(s):  
Sliding Mode Control ◽  
Control Strategy ◽  
Sliding Mode ◽  
Parallel Robot ◽  
Control Technique ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Robot Performance ◽  
Point To Point

In this paper, we propose an adaptive sliding mode control strategy for a 3D cable-driven parallel robot. The proposed control technique is widely used for dealing with nonlinear systems uncertainties and for improving the robot performance in terms of tracking a desired path. The main contribution of this work is firstly: the graphical user interface (GUI) witch presents a point-to-point command, thus by the visualization of the end-effector position. Secondly, the sliding mode control is modeling for applied to the dynamic model for different trajectories in order to test the accurate tracking of the robot to a desired path. The effectiveness of the proposed control strategy is demonstrated through different simulation results.

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