Finite Time Fault Tolerant Control for Robot Manipulators Using Time Delay Estimation and Continuous Nonsingular Fast Terminal Sliding Mode Control

In this paper, a novel finite time fault tolerant control (FTC) is proposed for uncertain robot manipulators with actuator faults. First, a finite time passive FTC (PFTC) based on a robust nonsingular fast terminal sliding mode control (NFTSMC) is investigated. Be analyzed for addressing the disadva...

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Bibliographic Details
Published in:IEEE transactions on cybernetics 2017-07, Vol.47 (7), p.1681-1693
Main Authors: Van, Mien, Ge, Shuzhi Sam, Ren, Hongliang
Format: Article
Language:English
Subjects:
Actuators
Algorithms
Computer simulation
Control systems
Convergence
Fault detection
Fault diagnosis
Fault diagnosis (FD)
Fault tolerance
fault tolerant control (FTC)
Manipulators
Observers
Robot arms
Robot control
robot manipulators
Robots
Robustness
Sliding mode control
State of the art
terminal sliding mode
time delay estimation (TDE)
Time lag
Twisting
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Summary:In this paper, a novel finite time fault tolerant control (FTC) is proposed for uncertain robot manipulators with actuator faults. First, a finite time passive FTC (PFTC) based on a robust nonsingular fast terminal sliding mode control (NFTSMC) is investigated. Be analyzed for addressing the disadvantages of the PFTC, an AFTC are then investigated by combining NFTSMC with a simple fault diagnosis scheme. In this scheme, an online fault estimation algorithm based on time delay estimation (TDE) is proposed to approximate actuator faults. The estimated fault information is used to detect, isolate, and accommodate the effect of the faults in the system. Then, a robust AFTC law is established by combining the obtained fault information and a robust NFTSMC. Finally, a high-order sliding mode (HOSM) control based on super-twisting algorithm is employed to eliminate the chattering. In comparison to the PFTC and other state-of-the-art approaches, the proposed AFTC scheme possess several advantages such as high precision, strong robustness, no singularity, less chattering, and fast finite-time convergence due to the combined NFTSMC and HOSM control, and requires no prior knowledge of the fault due to TDE-based fault estimation. Finally, simulation results are obtained to verify the effectiveness of the proposed strategy.
ISSN:2168-2267
2168-2275
DOI:10.1109/TCYB.2016.2555307