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Fault diagnosis and fault-tolerant control of uncertain robot manipulators using high-order sliding mode
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Mien, Van, Franciosa, Pasquale and Ceglarek, Darek (2016) Fault diagnosis and fault-tolerant control of uncertain robot manipulators using high-order sliding mode. Mathematical Problems in Engineering, 2016 . pp. 1-14. 7926280. doi:10.1155/2016/7926280 ISSN 1024-123X .
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Official URL: http://dx.doi.org/10.1155/2016/7926280
Abstract
A robust fault diagnosis and fault-tolerant control (FTC) system for uncertain robot manipulators without joint velocity measurement is presented. The actuator faults and robot manipulator component faults are considered. The proposed scheme is designed via an active fault-tolerant control strategy by combining a fault diagnosis scheme based on a super-twisting third-order slidingmode (STW-TOSM) observer with a robust super-twisting second-order slidingmode (STW-SOSM) controller. Compared to the existing FTC methods, the proposed FTC method can accommodate not only faults but also uncertainties, and it does not require a velocity measurement. In addition, because the proposed scheme is designed based on the high-order sliding mode (HOSM) observer/controller strategy, it exhibits fast convergence, high accuracy, and less chattering. Finally, computer simulation results for a PUMA560 robot are obtained to verify the effectiveness of the proposed strategy.
| Item Type: | Journal Article | ||||||||
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| Subjects: | T Technology > TJ Mechanical engineering and machinery T Technology > TK Electrical engineering. Electronics Nuclear engineering |
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| Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) | ||||||||
| Library of Congress Subject Headings (LCSH): | Fault location (Engineering), Manipulators (Mechanism) | ||||||||
| Journal or Publication Title: | Mathematical Problems in Engineering | ||||||||
| Publisher: | Hindawi Publishing | ||||||||
| ISSN: | 1024-123X | ||||||||
| Official Date: | 2016 | ||||||||
| Dates: |
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| Volume: | 2016 | ||||||||
| Number of Pages: | 14 | ||||||||
| Page Range: | pp. 1-14 | ||||||||
| Article Number: | 7926280 | ||||||||
| DOI: | 10.1155/2016/7926280 | ||||||||
| Status: | Peer Reviewed | ||||||||
| Publication Status: | Published | ||||||||
| Access rights to Published version: | Open Access (Creative Commons) | ||||||||
| Date of first compliant deposit: | 9 September 2016 | ||||||||
| Date of first compliant Open Access: | 9 September 2016 | ||||||||
| Funder: | Engineering and Physical Sciences Research Council (EPSRC) | ||||||||
| Grant number: | EP/K019368/1 (EPSRC) |
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