Finite-time fault-tolerant control for a robot manipulator based on synchronous terminal sliding mode control
Le, Quang Dan and Kang, Hee-Jun (2020) Finite-time fault-tolerant control for a robot manipulator based on synchronous terminal sliding mode control. Applied Sciences, 10 (9). 2998. ISSN 2076-3417 (https://doi.org/10.3390/app10092998)
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Abstract
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.
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Item type: Article ID code: 89668 Dates: DateEvent25 April 2020Published21 April 2020AcceptedSubjects: Technology > Mechanical engineering and machinery
Technology > Electrical engineering. Electronics Nuclear engineeringDepartment: Faculty of Engineering > Design, Manufacture and Engineering Management Depositing user: Pure Administrator Date deposited: 19 Jun 2024 14:08 Last modified: 03 Oct 2024 10:21 URI: https://strathprints.strath.ac.uk/id/eprint/89668