Robust fault tolerant control of robot manipulators with global fixed-time convergence

Van, Mien; Ceglarek, Dariusz

doi:10.1016/j.jfranklin.2020.11.002

Cited by 70 publications

(54 citation statements)

References 45 publications

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“…For the simulation tests, a two-degree-of-freedom or three-degreeof-freedom robotic arm model with a simpler mathematical model is chosen. The same problem occurs in the literature [25][26][27][28][29][30][31][32]. The kinematics of lightweight robot manipulators have been studied in the literature [33][34][35].…”

Section: Introductionmentioning

confidence: 75%

P-Rob Six-Degree-of-Freedom Robot Manipulator Dynamics Modeling and Anti-Disturbance Control

Zhang¹,

2021

IEEE Access

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In this paper, the problem of modeling and anti-disturbance control is studied for lightweight personal robotics (P-Robs) with a six-degree-of-freedom robot manipulator to solve the movement instability phenomenon caused by time-varying uncertain disturbances during the movement of the robot manipulator. The detailed dynamical equations of the P-Rob system are solved based on the Lagrange energy equation, and the actual dynamical model of the robot manipulator system is obtained. The disturbance observer is designed to estimate the disturbance effectively, and an integral sliding mode control algorithm is proposed to realize tracking control. Stability analysis of the system is carried out using the Lyapunov function. Finally, experiments are conducted on an actual P-Rob system model, and the experimental results show that the robot manipulator system tracks the desired trajectory effectively, which validates the effectiveness of the proposed control algorithm.INDEX TERMS P-Rob system, robot manipulator, dynamical modeling, disturbance observer, integral sliding mode control, track tracking.

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Section: Introductionmentioning

confidence: 75%

P-Rob Six-Degree-of-Freedom Robot Manipulator Dynamics Modeling and Anti-Disturbance Control

Zhang¹,

2021

IEEE Access

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“…The fixed-time SMC technique provides a solution to this problem (see [98,99]). This motivated the work presented in [100]. The method again shares the same principle as the previous FTC solutions: use a disturbance/fault estimator to provide disturbance/fault bounds that are further injected as parameters in a SMC law.…”

Section: Robot Manipulatorsmentioning

confidence: 95%

Sliding Mode Control with Application to Fault-Tolerant Control: Assessment and Open Problems

et al. 2021

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This paper is prepared within a collaboration between the Instituto Politécnico Nacional, which is a Mexican research institute that manages research on sliding-mode control theory, and the ARIA research team of the Intégration du Matériau au Système Lab., a French research group that engages research on model-based fault diagnosis and fault-tolerant control theories. The paper reviews the application of sliding mode control techniques to fault tolerant control and provides perspectives leading to posing some open problems. Operating principles, definitions of the basic concepts are recalled along with the control objectives and design procedures. The evolution of the sliding mode control technique through five generations (as classified by Fridman, Moreno and co-workers) is reviewed. Their respective design procedures, limitations, and robustness properties are also highlighted. The application of the five generations of sliding-mode controllers to fault-tolerant control is discussed. The focus is on some open problems that are judged to commonly be overlooked. Some applications in real-world systems are also presented.

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“…In recent years, the FD/FTC methods of robot manipulators have been extensively investigated [ 3 , 4 , 5 , 6 , 7 ]. Those methods have also achieved remarkable results.…”

Section: Introductionmentioning

confidence: 99%

A Novel Active Fault-Tolerant Tracking Control for Robot Manipulators with Finite-Time Stability

Truong

Van

2021

Sensors

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Many terminal sliding mode controllers (TSMCs) have been suggested to obtain exact tracking control of robotic manipulators in finite time. The ordinary method is based on TSMCs that secure trajectory tracking under the assumptions such as the known robot dynamic model and the determined upper boundary of uncertain components. Despite tracking errors that tend to zero in finite time, the weakness of TSMCs is chattering, slow convergence speed, and the need for the exact robot dynamic model. Few studies are handling the weakness of TSMCs by using the combination between TSMCs and finite-time observers. In this paper, we present a novel finite-time fault tolerance control (FTC) method for robotic manipulators. A finite-time fault detection observer (FTFDO) is proposed to estimate all uncertainties, external disturbances, and faults accurately and on time. From the estimated information of FTFDO, a novel finite-time FTC method is developed based on a new finite-time terminal sliding surface and a new finite-time reaching control law. Thanks to this approach, the proposed FTC method provides a fast convergence speed for both observation error and control error in finite time. The operation of the robot system is guaranteed with expected performance even in case of faults, including high tracking accuracy, small chattering behavior in control input signals, and fast transient response with the variation of disturbances, uncertainties, or faults. The stability and finite-time convergence of the proposed control system are verified that they are strictly guaranteed by Lyapunov theory and finite-time control theory. The simulation performance for a FARA robotic manipulator proves the proposed control theory’s correctness and effectiveness.

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Robust fault tolerant control of robot manipulators with global fixed-time convergence

Cited by 70 publications

References 45 publications

P-Rob Six-Degree-of-Freedom Robot Manipulator Dynamics Modeling and Anti-Disturbance Control

P-Rob Six-Degree-of-Freedom Robot Manipulator Dynamics Modeling and Anti-Disturbance Control

Sliding Mode Control with Application to Fault-Tolerant Control: Assessment and Open Problems

A Novel Active Fault-Tolerant Tracking Control for Robot Manipulators with Finite-Time Stability

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