An Active Fault-Tolerant Control Based on Synchronous Fast Terminal Sliding Mode for a Robot Manipulator
To maintain the safe operation and acceptable performance of robot manipulators when faults occur inside the system, fault-tolerant control must deal differently uncertainties and disturbances, especially with the occurrence of loss-effective faults. Therefore, in this paper, an active fault-toleran...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-07-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/11/7/195 |
| _version_ | 1797408022057713664 |
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| author | Quang Dan Le Hee-Jun Kang |
| author_facet | Quang Dan Le Hee-Jun Kang |
| author_sort | Quang Dan Le |
| collection | DOAJ |
| description | To maintain the safe operation and acceptable performance of robot manipulators when faults occur inside the system, fault-tolerant control must deal differently uncertainties and disturbances, especially with the occurrence of loss-effective faults. Therefore, in this paper, an active fault-tolerant control for robot manipulators based on the combination of a novel finite-time synchronous fast terminal sliding mode control and extended state observer is proposed. Due to the internal constraints of the synchronization technique, the position error at each actuator simultaneously approaches zero and tends to be equal. Therefore, the proposed controller can suppress the effects of faults and guarantee the acceptable performance of robot manipulators when faults occur. First, an extended state observer is designed to estimate the lumped uncertainties, disturbance and faults. Then, the information from the observer is used to combine with the main novel synchronous fast terminal sliding mode controller as a compensator. By combining the merits of the observer compensation, sliding mode and synchronization technique, the proposed fault-tolerant controller is able to deal with uncertainties and disturbances in normal operation mode and reduce the effects of faults in case faults occur, especially in the occurrence of loss-effective faults. Finally, the enhanced safety, reality and effectiveness of the proposed fault-tolerant control are evaluated through the control of a 3-DOF robot manipulator in both a simulated environment and experiment. |
| first_indexed | 2024-03-09T03:51:16Z |
| format | Article |
| id | doaj.art-34db27e30747484587b19ea4c7292cb7 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-09T03:51:16Z |
| publishDate | 2022-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-34db27e30747484587b19ea4c7292cb72023-12-03T14:27:15ZengMDPI AGActuators2076-08252022-07-0111719510.3390/act11070195An Active Fault-Tolerant Control Based on Synchronous Fast Terminal Sliding Mode for a Robot ManipulatorQuang Dan Le0Hee-Jun Kang1Department of Electrical, Electronic and Computer Engineering, University of Ulsan, Ulsan 44610, KoreaDepartment of Electrical, Electronic and Computer Engineering, University of Ulsan, Ulsan 44610, KoreaTo maintain the safe operation and acceptable performance of robot manipulators when faults occur inside the system, fault-tolerant control must deal differently uncertainties and disturbances, especially with the occurrence of loss-effective faults. Therefore, in this paper, an active fault-tolerant control for robot manipulators based on the combination of a novel finite-time synchronous fast terminal sliding mode control and extended state observer is proposed. Due to the internal constraints of the synchronization technique, the position error at each actuator simultaneously approaches zero and tends to be equal. Therefore, the proposed controller can suppress the effects of faults and guarantee the acceptable performance of robot manipulators when faults occur. First, an extended state observer is designed to estimate the lumped uncertainties, disturbance and faults. Then, the information from the observer is used to combine with the main novel synchronous fast terminal sliding mode controller as a compensator. By combining the merits of the observer compensation, sliding mode and synchronization technique, the proposed fault-tolerant controller is able to deal with uncertainties and disturbances in normal operation mode and reduce the effects of faults in case faults occur, especially in the occurrence of loss-effective faults. Finally, the enhanced safety, reality and effectiveness of the proposed fault-tolerant control are evaluated through the control of a 3-DOF robot manipulator in both a simulated environment and experiment.https://www.mdpi.com/2076-0825/11/7/195active fault-tolerant controlsynchronous fast terminal sliding mode controlactive fault-tolerant controlrobot manipulator controlextended state observerfault |
| spellingShingle | Quang Dan Le Hee-Jun Kang An Active Fault-Tolerant Control Based on Synchronous Fast Terminal Sliding Mode for a Robot Manipulator Actuators active fault-tolerant control synchronous fast terminal sliding mode control active fault-tolerant control robot manipulator control extended state observer fault |
| title | An Active Fault-Tolerant Control Based on Synchronous Fast Terminal Sliding Mode for a Robot Manipulator |
| title_full | An Active Fault-Tolerant Control Based on Synchronous Fast Terminal Sliding Mode for a Robot Manipulator |
| title_fullStr | An Active Fault-Tolerant Control Based on Synchronous Fast Terminal Sliding Mode for a Robot Manipulator |
| title_full_unstemmed | An Active Fault-Tolerant Control Based on Synchronous Fast Terminal Sliding Mode for a Robot Manipulator |
| title_short | An Active Fault-Tolerant Control Based on Synchronous Fast Terminal Sliding Mode for a Robot Manipulator |
| title_sort | active fault tolerant control based on synchronous fast terminal sliding mode for a robot manipulator |
| topic | active fault-tolerant control synchronous fast terminal sliding mode control active fault-tolerant control robot manipulator control extended state observer fault |
| url | https://www.mdpi.com/2076-0825/11/7/195 |
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