A Fault Tolerant Control for Robotic Manipulators Using Adaptive Non-singular Fast Terminal Sliding Mode Control Based on Neural Third Order Sliding Mode Observer

Nguyen, Van-Cuong; Kang, Hee-Jun

doi:10.1007/978-3-030-60796-8_17

Cited by 5 publications

(2 citation statements)

References 20 publications

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“…The two problems have been handled separately using fast TSMC (FTSMC) [24,25] and nonsingular TSMC (NTSMC) [26][27][28]. In order to solve both problems at the same time, nonsingular fast TSMC (NFTSMC) was developed [29][30][31]. Due to its excellent control features, such as providing finite-time convergence, eliminating the singularity problem, achieving high-position tracking precision and robustness against the lumped unknown input, NFTSMC has been applied widely in the literature.…”

Section: Introductionmentioning

confidence: 99%

A Novel High-Speed Third-Order Sliding Mode Observer for Fault-Tolerant Control Problem of Robot Manipulators

2022

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In this paper, a novel fault-tolerant control tactic for robot manipulator systems using only position measurements is proposed. The proposed algorithm is constructed based on a combination of a nonsingular fast terminal sliding mode control (NFTSMC) and a novel high-speed third-order sliding mode observer (TOSMO). In the first step, the high-speed TOSMO is proposed for the first time to approximate both the system velocity and the lumped unknown input with a faster convergence time compared to the TOSMO. The faster convergence speed is obtained thanks to the linear characteristic of the added elements. In the second step, the NFTSMC is designed based on a nonsingular fast terminal sliding (NFTS) surface and the information obtained from the proposed high-speed TOSMO. Thanks to the combination, the proposed controller–observer tactic provides excellent features, such as a fast convergence time, high tracking precision, chattering phenomenon reduction, robustness against the effects of the lumped unknown input and velocity requirement elimination. Especially, the proposed observer does not only improve the convergence speed of the estimated signals, but also increases the system dynamic response. The system’s finite-time stability is proved using the Lyapunov theory. Finally, to validate the efficiency of the proposed strategy, simulations on a PUMA560 robot manipulator are performed.

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Section: Introductionmentioning

confidence: 99%

A Novel High-Speed Third-Order Sliding Mode Observer for Fault-Tolerant Control Problem of Robot Manipulators

2022

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“…Unfortunately, the two controllers just solve the two problems separately. In order to get rid of them simultaneously, the non-singular fast TSMC (NFTSMC) is proposed [34][35][36][37][38]. This controller has outstanding control features such as singularity removal, high tracking precision, finite-time convergence, and durability to LUaF effects.…”

Section: Introductionmentioning

confidence: 99%

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

Nguyen

Kang

2021

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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.

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Model-Free Continuous Fuzzy Terminal Sliding Mode Control for Second-Order Nonlinear Systems

Nguyen

Kang

2021

Lecture Notes in Computer Science

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A Fault Tolerant Control for Robotic Manipulators Using Adaptive Non-singular Fast Terminal Sliding Mode Control Based on Neural Third Order Sliding Mode Observer

Cited by 5 publications

References 20 publications

A Novel High-Speed Third-Order Sliding Mode Observer for Fault-Tolerant Control Problem of Robot Manipulators

A Novel High-Speed Third-Order Sliding Mode Observer for Fault-Tolerant Control Problem of Robot Manipulators

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

Model-Free Continuous Fuzzy Terminal Sliding Mode Control for Second-Order Nonlinear Systems

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