Mien, Van and Kang, H. J. (2015) Robust fault-tolerant control for uncertain robot manipulators based on adaptive quasi-continuous high-order sliding mode and neural network. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 229 (8). pp. 1425-1446. doi:10.1177/0954406214544311 ISSN 0954-4062.

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Abstract

This paper investigates a robust fault-tolerant control scheme for uncertain robot manipulators. The proposed scheme is designed via active fault-tolerant control method by combining a fault estimation scheme with a novel robust adaptive quasi-continuous second-order sliding mode (AQC2S) controller, so as to accommodate not only system failures but also uncertainties. First, a neural network based fault estimation is designed to online approximate the unknown uncertainties and faults. The estimated uncertainty and fault information are then used to compensate in advance for the effects of uncertainties in fault-free operation and both uncertainties and faults in fault operation. To eliminate the neural network compensation error, QC2S with adaptation gain, named as adaptive QC2S (AQC2S), is proposed. By integrating the advantages of the neural network observer and the AQC2S controller, the integrated scheme has a good capability to accommodate both the uncertainties and faults with chattering-free, higher position tracking accuracy, and no requirement of prior knowledge of the fault information. The stability and convergence of the proposed fault-tolerant control system is proved theoretically. Simulation results for a PUMA560 robot demonstrate the effectiveness of the proposed algorithm.

Item Type:	Journal Article
Divisions:	Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group)
Journal or Publication Title:	Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Publisher:	Sage Publications Ltd.
ISSN:	0954-4062
Official Date:	29 June 2015
Dates:	Date Event 29 June 2015 Published 10 February 2015 Available 6 June 2014 Accepted 8 February 2014 Submitted
Volume:	229
Number:	8
Page Range:	pp. 1425-1446
DOI:	10.1177/0954406214544311
Status:	Peer Reviewed
Publication Status:	Published
Access rights to Published version:	Restricted or Subscription Access

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