Decentralized Fault Tolerant Control for Modular Robot Manipulators via Integral Terminal Sliding Mode and Disturbance Observer

Lu, Zengpeng; Li, Yan; Fan, Xirui; Li, Yuanchun

doi:10.1007/s12555-021-0287-6

Cited by 8 publications

(4 citation statements)

References 46 publications

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“…Many types of manipulators have been developed rapidly due to a wide range of practical applications. Such as modular robot manipulator [1], space manipulator [2,3], hydraulic manipulator [4], underwater manipulator [5], and so on. These manipulators usually need to complete the specified tracking task, so a variety of tracking control methods were proposed.…”

Section: Introductionmentioning

confidence: 99%

Event-triggered Stochastic Finite-time Tracking Control of Robot Manipulator with Uncertain Disturbance Neural Network Estimation

Dang,

2024

Preprint

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This study presents a novel event-triggered finite-time stochastic control method for a robot manipulator. The random moment of inertia of the manipulator system is expressed by building a stochastic dynamic model, and the parameter variation disturbance is estimated by using a stochastic configuration neural network. An event-triggered controller with uncertain disturbance rejection is proposed, which not only realizes the stochastic finite-time stability of the tracking error system, but also guarantees the safety of motion velocity, and robustly improves the tracking accuracy of the robot manipulator. Compared with the existing works, the obvious feature of the proposed method is that it can simultaneously solve the random disturbance and uncertain parameter disturbance of the manipulator system, save communication resources, and ensure that the manipulator system can reach a steady state in finite time. We also discuss the effectiveness of the proposed stochastic tracking control method. Simulation and comparative analysis results further show that the controller can be updated less frequently while guaranteeing robust tracking performance of the robot manipulator.

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Section: Introductionmentioning

confidence: 99%

Event-triggered Stochastic Finite-time Tracking Control of Robot Manipulator with Uncertain Disturbance Neural Network Estimation

Dang,

2024

Preprint

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“…Terminal sliding mode has delivered satisfactory outcomes in fault-tolerant control. In [21], a decentralized faulttolerant controller for robot manipulators was proposed by combining terminal sliding modes and a super-twist algorithm to minimize chattering and expedite convergence. In [22], a sliding mode surface for integral terminal was carefully developed, resulting in the development of a model-free finite-time resilient adaptive fault-tolerant control for robot manipulators, demonstrating advantages in global finite-time convergence.…”

Section: Introductionmentioning

confidence: 99%

Fault-Tolerant Cooperative Control of Multiple Uncertain Euler-Lagrange Systems with an Uncertain Leader

Gu,

Sun

2024

Electronics

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This paper explores the fault-tolerant cooperative control of multiagent systems, which are modeled via an uncertain leader system and multiple uncertain Euler–Lagrange systems with actuator faults. A self-adjusting observer is initially proposed to estimate the signal of the uncertain leader for different followers and compute the observer gain in real time. An adaptive fault-tolerant controller is designed based on the above observer and nonsingular fast terminal sliding mode surface. This controller estimates lumped uncertainty and ensures that tracking errors are ultimately bounded. The controller designed in this paper has the following three advantages. Firstly, the observer can estimate and transmit the leader’s state to each follower even without precise knowledge of the leader’s system matrix. Secondly, the controller is robust to actuator faults, uncertain parameters and external disturbances, the upper bounds of which can be arbitrarily large and unidentified. Thirdly, the controller has a simple structure and is also suitable for situations where the actuator is healthy. Lastly, simulations are provided to demonstrate the effectiveness of both the observer and the controller with or without actuator fault.

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“…To acquire finite-time convergence and enhance converging performance, researchers innovate a terminal sliding mode (TSM). [15][16][17] Nevertheless, TSM fails to offer fast converging speed. As a result, fast terminal sliding mode (FTSM) 18,19 is invented to make up this drawback.…”

Section: Introductionmentioning

confidence: 99%

“…Enlightened by the aforementioned discussions, this article proposes a model-free sliding mode prescribed performance controller (MFSMPPC). Unlike Lu et al [15][16][17] that count on TSM and can only achieve finite-time convergence, we put forward an error-driven nonsingular FTSM that can improve the converging speed, avoid singularity, and reduce driving torque. Unlike Zou et al [22][23][24] that employ reaching laws eliminate chattering while impair the robustness as well as accuracy of the system, we innovate a novel reaching law which is modified on account of the traditional power reaching law (PRL).…”

Section: Introductionmentioning

confidence: 99%

Model-free sliding mode prescribed performance control of robotic manipulator based on new reaching law

Deng,

Wen,

Yang

2023

International Journal of Advanced Robotic Systems

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The article proposes a model-free sliding mode prescribed performance control method for robotic manipulator. For accelerating the errors converging rate as well as bringing down the real-time control torque, an error-driven nonsingular fast terminal sliding mode is employed in this control method. Besides, a modified power reaching law is newly designed, which is able to offer better chattering elimination performance than traditional power reaching law. To solve the problem that the controller’s performance highly relies on the accuracy of robotic model, a model-free control idea is introduced where an ultra-local model is established and the estimation of time delay is used to approximate the unknown part of the ultra-local model. Considering the transient performance is a significant element that effects the using security and system stability, the technique of prescribed performance control is introduced to limit the state errors in a prescribed region. The closed-loop stability proof of the whole system is achieved according to Lyapunov’s stability theorem. The proposed controller’s superiority and feasibility compared with other controllers are demonstrated by numerical simulations.

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Decentralized Fault Tolerant Control for Modular Robot Manipulators via Integral Terminal Sliding Mode and Disturbance Observer

Cited by 8 publications

References 46 publications

Event-triggered Stochastic Finite-time Tracking Control of Robot Manipulator with Uncertain Disturbance Neural Network Estimation

Event-triggered Stochastic Finite-time Tracking Control of Robot Manipulator with Uncertain Disturbance Neural Network Estimation

Fault-Tolerant Cooperative Control of Multiple Uncertain Euler-Lagrange Systems with an Uncertain Leader

Model-free sliding mode prescribed performance control of robotic manipulator based on new reaching law

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