KLI

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

Metadata Downloads
Abstract
: 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.
Author(s)
웬 방 꾸옹레 푸 응우엔강희준
Issued Date
2021
Type
Article
Keyword
disturbance observerfault-tolerant controlnon-singular fast terminal sliding mode controlrobot manipulators
DOI
10.3390/act10120332
URI
https://oak.ulsan.ac.kr/handle/2021.oak/9121
https://ulsan-primo.hosted.exlibrisgroup.com/primo-explore/fulldisplay?docid=TN_cdi_doaj_primary_oai_doaj_org_article_64a50f70baa04948829b42979c1bf877&context=PC&vid=ULSAN&lang=ko_KR&search_scope=default_scope&adaptor=primo_central_multiple_fe&tab=default_tab&query=any,contains,An%20Active%20Fault-Tolerant%20Control%20for%20Robotic%20Manipulators%20Using%20Adaptive%20Non-Singular%20Fast%20Terminal%20Sliding%20Mode%20Control%20and%20Disturbance%20Observer&offset=0&pcAvailability=true
Publisher
ACTUATORS
Location
스위스
Language
영어
ISSN
2076-0825
Citation Volume
10
Citation Number
12
Citation Start Page
332
Citation End Page
332
Appears in Collections:
Engineering > Aerospace Engineering
Authorize & License
  • Authorize공개
Files in This Item:
  • There are no files associated with this item.

Items in Repository are protected by copyright, with all rights reserved, unless otherwise indicated.