scholarly journals Finite-Time Fault-Tolerant Control for a Robot Manipulator Based on Synchronous Terminal Sliding Mode Control

2020 ◽  
Vol 10 (9) ◽  
pp. 2998
Author(s):  
Quang Dan Le ◽  
Hee-Jun Kang
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Active Fault ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Fault Tolerant Control ◽  
Position Error ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode

In this paper, two finite-time active fault-tolerant controllers for a robot manipulator, which combine a synchronous terminal sliding mode control with an extended state observer, are proposed. First, an extended state observer is adopted to estimate the lumped uncertainties, disturbances, and faults. The estimation information is used to compensate the controller designed in the following step. We present an active fault-tolerant control with finite-time synchronous terminal sliding mode control, largely based on a novel finite-time synchronization error and coupling position error. We also present an active fault-tolerant control that does not use a coupling position error. By using synchronization control, the position error at each joint can simultaneously approach toward zero and toward equality, which may reduce the picking phenomenon associated with the active fault-tolerant controller strategy. Finally, simulation and experimental results for a three degree-of-freedom robot manipulator verify the effectiveness of the two proposed active fault-tolerant controllers.

scholarly journals An Active Fault-Tolerant Control for Robotic Manipulators Using Adaptive Non-Singular Fast Terminal Sliding Mode Control and Disturbance Observer

Actuators ◽  
2021 ◽  
Vol 10 (12) ◽  
pp. 332
Author(s):  
Van-Cuong Nguyen ◽  
Phu-Nguyen Le ◽  
Hee-Jun Kang
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Disturbance Observer ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Robotic Manipulators ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Finite Time Convergence ◽  
Fast Terminal Sliding Mode

In this study, a fault-tolerant control (FTC) tactic using a sliding mode controller–observer method for uncertain and faulty robotic manipulators is proposed. First, a finite-time disturbance observer (DO) is proposed based on the sliding mode observer to approximate the lumped uncertainties and faults (LUaF). The observer offers high precision, quick convergence, low chattering, and finite-time convergence estimating information. Then, the estimated signal is employed to construct an adaptive non-singular fast terminal sliding mode control law, in which an adaptive law is employed to approximate the switching gain. This estimation helps the controller automatically adapt to the LUaF. Consequently, the combination of the proposed controller–observer approach delivers better qualities such as increased position tracking accuracy, reducing chattering effect, providing finite-time convergence, and robustness against the effect of the LUaF. The Lyapunov theory is employed to illustrate the robotic system’s stability and finite-time convergence. Finally, simulations using a 2-DOF serial robotic manipulator verify the efficacy of the proposed method.

scholarly journals Fault-Tolerant Control for N-Link Robot Manipulator via Adaptive Nonsingular Terminal Sliding Mode Control Technology

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Nannan Shi ◽  
Fanghui Luo ◽  
Zhikuan Kang ◽  
Lihui Wang ◽  
Zhuo Zhao ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Tracking Error ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode ◽  
The Stability

An adaptive nonsingular terminal sliding mode control (ANTSMC) scheme for the n-link robot manipulator is presented in this study, which can achieve faster convergence and higher precision tracking compared with the linear hyperplane-based sliding mode control. Novel adaptive updating laws based on the actual tracking error are employed to online adjust the upper bound of uncertainty, which comprehensively consider both the tracking performance and chattering eliminating problem. The stability analysis of the proposed ANTSMC is verified using the Lyapunov method with the existence of the parameter uncertainty and the actuator faults. Numerical simulation studies the comparison of performance between ANTSMC and the conventional nonsingular terminal sliding mode control (NTSMC) scheme to validate the advantages of the proposed control algorithm.

scholarly journals Implementation of Fault-Tolerant Control for a Robot Manipulator Based on Synchronous Sliding Mode Control

2020 ◽  
Vol 10 (7) ◽  
pp. 2534
Author(s):  
Quang Dan Le ◽  
Hee-Jun Kang
Keyword(s):  
Sliding Mode Control ◽  
Active Fault ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Robot Manipulator ◽  
Fault Tolerant Control ◽  
Mode Control ◽  
Approach Zero ◽  
Mode Technique ◽  
Sliding Mode Technique

In this paper, an active fault-tolerant control for a robot manipulator based on synchronous sliding mode is proposed. As the synchronization errors approach zero, the joint errors tend to become equal and also approach zero. Therefore, the synchronization technique is inherently effective for a fault-tolerant controller. To demonstrate such a system, the following implementation is presented. First, an estimator was designed with an extended state observer to estimate uncertainties/disturbances along with faults/failures. The estimator signal was used for an online compensator in the controller. A fault-tolerant controller with a combination of synchronous sliding mode technique and estimator was proposed. The stability of the system was established using Lyapunov theory. Finally, fault tolerant control was implemented in a three degree-of-freedom robot manipulator and compared to the conventional sliding mode control. This comparison shows the effectiveness of the proposed active fault-tolerant control with synchronous sliding mode technique.

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