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A Novel Active Fault-Tolerant Tracking Control for Robot Manipulators with Finite-Time Stability

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Abstract
Many terminal sliding mode controllers (TSMCs) have been suggested to obtain exact
tracking control of robotic manipulators in finite time. The ordinary method is based on TSMCs
that secure trajectory tracking under the assumptions such as the known robot dynamic model
and the determined upper boundary of uncertain components. Despite tracking errors that tend
to zero in finite time, the weakness of TSMCs is chattering, slow convergence speed, and the need
for the exact robot dynamic model. Few studies are handling the weakness of TSMCs by using the
combination between TSMCs and finite-time observers. In this paper, we present a novel finite-time
fault tolerance control (FTC) method for robotic manipulators. A finite-time fault detection observer
(FTFDO) is proposed to estimate all uncertainties, external disturbances, and faults accurately and
on time. From the estimated information of FTFDO, a novel finite-time FTC method is developed
based on a new finite-time terminal sliding surface and a new finite-time reaching control law.
Thanks to this approach, the proposed FTC method provides a fast convergence speed for both
observation error and control error in finite time. The operation of the robot system is guaranteed
with expected performance even in case of faults, including high tracking accuracy, small chattering
behavior in control input signals, and fast transient response with the variation of disturbances,
uncertainties, or faults. The stability and finite-time convergence of the proposed control system
are verified that they are strictly guaranteed by Lyapunov theory and finite-time control theory.
The simulation performance for a FARA robotic manipulator proves the proposed control theory’s
correctness and effectiveness.
Author(s)
보 안 뚜안츠엉 탄 웬강희준Van Mien
Issued Date
2021
Type
Article
Keyword
fault detection ovserverfault tolerant controlfinite-time control theoryrobot manipulatorsterminal sliding mode control
DOI
10.3390/s21238101
URI
https://oak.ulsan.ac.kr/handle/2021.oak/9119
https://ulsan-primo.hosted.exlibrisgroup.com/primo-explore/fulldisplay?docid=TN_cdi_doaj_primary_oai_doaj_org_article_f0b3b16e0db8468083c7cd80cd6a615b&context=PC&vid=ULSAN&lang=ko_KR&search_scope=default_scope&adaptor=primo_central_multiple_fe&tab=default_tab&query=any,contains,A%20Novel%20Active%20Fault-Tolerant%20Tracking%20Control%20for%20Robot%20Manipulators%20with%20Finite-Time%20Stability&offset=0&pcAvailability=true
Publisher
SENSORS
Location
스위스
Language
영어
ISSN
1424-8220
Citation Volume
21
Citation Number
23
Citation Start Page
8101
Citation End Page
8101
Appears in Collections:
Engineering > Aerospace Engineering
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