Adaptive Fixed-Time Fault-Tolerant Tracking Control and Its Application for Robot Manipulators

Zhang, Liyin; Liu, Hui; Tang, Dafeng; Hou, Yinlong; Wang, Youming

doi:10.1109/tie.2021.3070494

Cited by 49 publications

(46 citation statements)

References 53 publications

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“…andḡ(e i ) is represented in (17), k 0 and k 1 are given by (15), andσ is defined by (14). From ( 24)-( 30), system (6) can be transformed as…”

Section: Control Developmentmentioning

confidence: 99%

Implementation of Adaptive Fault-Tolerant Tracking Control for Robot Manipulators with Integral Sliding Mode

Liu¹,

Zhang

Hou

et al. 2021

Preprint

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This paper addresses an adaptive fault-tolerant tracking control for robot manipulators. By fully considering the effects of uncertainties and actuator effectiveness faults (UAEFs), a robust fault-tolerant tracking control combining with an auxiliary function and an integral sliding manifold is first developed for uncertain robot manipulators. Then, an adaptive law for unknown parameters of the upper bounded uncertainties is constructed to obtain a robust fault-tolerant approach with the elimination of the reaching phase of sliding mode control (SMC). The stability of the proposed approaches is accomplished by Lyapunov stable theory. The key contributions of the proposed approach are as follows: i) the reaching phase of SMC is removed in the control design and then the sliding mode starts at very beginning; (ii) the nominal control term is eliminated in the design of integral sliding surface and then the algebraic loop problem is also avoided in the proposed approach for robot manipulators; (iii) the simple control structure with an adaptive law is obtained for improving chattering-restraining ability of the proposed approach and then the effects of time delay and computational burden are also restrained from the proposed approach. Simulation and experimental comparisons have been accomplished for verifying the effectiveness of the proposed approach.

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“…andḡ(e i ) is represented in (17), k 0 and k 1 are given by (15), andσ is defined by (14). From ( 24)-( 30), system (6) can be transformed as…”

Section: Control Developmentmentioning

confidence: 99%

Implementation of Adaptive Fault-Tolerant Tracking Control for Robot Manipulators with Integral Sliding Mode

Liu¹,

Zhang

Hou

et al. 2021

Preprint

Self Cite

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“…Theorem 2. Considering the MRMs system (20), the decentralized fixedtime tracking controller is designed as (26). The system error of MRMs will converge to zero within fixed-time, and under Lemma 1, the settling time is bounded by:…”

Section: Fixed-time Sliding Mode Controllermentioning

confidence: 99%

“…To circumvent the drawbacks of convergence within finite time and at the same time as a development of finite time control, fixed-time SMC has been proposed recently [20]. At present, fixed-time controllers have been successfully used to aircraft [21,22], spacecraft [23] and motor systems [24], etc., and there are also some results in robot control systems [25][26][27]. In [28], a robust controller was presented to solve the problem of uncertain robot manipulators tracking and ensure the global approximate fixed-time convergence of the robot system.…”

Section: Introductionmentioning

confidence: 99%

A Novel Decentralized Fixed-Time Tracking Control for Modular Robot Manipulators: Theoretical and Experimental Verification

2021

Preprint

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This paper presents a novel decentralized fixed-time tracking control approach, which realizes the advantages of modular robot manipulators (MRMs) with fixed-time convergence, strong robustness, and high tracking performance. First, to estimate the total uncertainty of MRMs, the fixed-time observer based on the extended state is developed. Then, combined with the disturbance observer, a novel decentralized control method based on a fixed-time control strategy was devised to accomplish global fixed-time convergence of MRMs. And, stability analysis based on Lyapunov is utilized to obtain the fixed-time stability as well as convergence time of MRMs. Finally, numerical analysis and experiment respectively verify the excellent tracking ability of the presented decentralized fixed-time tracking control.

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“…The fixedtime control can be viewed as a special case of finite-time control, whose settling time is bounded and the upper bound of the settling time does not rely on the initial conditions of the system states. Owing to this distinctive property, there have been some fixed-time controllers developed for the trajectory tracking of ground-based manipulator currently [31][32][33][34][35].…”

Section: Introductionmentioning

confidence: 99%

Disturbance observer-based robust fixed-time integrated trajectory tracking control for space manipulator

Yao

2022

Robotica

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This article investigates the fixed-time trajectory tracking control of a free-flying rigid space manipulator perturbed by model uncertainties and external disturbances. A novel robust fixed-time integrated controller is developed by integrating a nominal fixed-time proportional–differential-like controller with a fixed-time disturbance observer. It is strictly proved that the proposed controller can ensure the position and velocity tracking errors regulate to zero in fixed time even subject to lumped disturbance. Benefiting from the feedforward compensation, the proposed controller has the strong robustness and excellent disturbance attenuation capability. The effectiveness and advantages of the proposed control approach are validated through simulations and comparisons.

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Adaptive Fixed-Time Fault-Tolerant Tracking Control and Its Application for Robot Manipulators

Cited by 49 publications

References 53 publications

Implementation of Adaptive Fault-Tolerant Tracking Control for Robot Manipulators with Integral Sliding Mode

Implementation of Adaptive Fault-Tolerant Tracking Control for Robot Manipulators with Integral Sliding Mode

A Novel Decentralized Fixed-Time Tracking Control for Modular Robot Manipulators: Theoretical and Experimental Verification

Disturbance observer-based robust fixed-time integrated trajectory tracking control for space manipulator

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