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Robust fault tolerant control of robot manipulators with global fixed-time convergence
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Van, Mien and Ceglarek, Dariusz (2021) Robust fault tolerant control of robot manipulators with global fixed-time convergence. Journal of the Franklin Institute, 358 (1). pp. 699-722. doi:10.1016/j.jfranklin.2020.11.002 ISSN 0016-0032.
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WRAP-Robust-fault-tolerant-control-of-robot-manipulators-with-global-fixed-time-convergence-21.pdf - Accepted Version - Requires a PDF viewer. Available under License Creative Commons Attribution Non-commercial No Derivatives 4.0. Download (1264Kb) | Preview |
Official URL: http://dx.doi.org/10.1016/j.jfranklin.2020.11.002
Abstract
In this paper, a robust fault tolerant control, which provides a global fixed-time stability, is proposed for robot manipulators. This approach is constructed based on an integration between a fixed-time second-order sliding mode observer (FxTSOSMO) and a fixed-time sliding mode control (FxTSMC) design strategy. First, the FxTSOSMO is developed to estimate the lumped disturbance with a fixed-time convergence. Then, based on the obtained disturbance estimation, the FxTSMC is developed based on a fixed-time sliding surface and a fixed-time reaching strategy to form a global fixed-time convergence of the system. The proposed approach is then applied for fault tolerant control of a PUMA560 robot and compared with other state-of-the-art controllers. The simulation results verify the outstanding fault estimation and fault accommodation capability of the proposed fault diagnosis observer and fault tolerant strategy, respectively.
Item Type: | Journal Article | ||||||||||
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Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) | ||||||||||
Journal or Publication Title: | Journal of the Franklin Institute | ||||||||||
Publisher: | Elsevier Science Ltd. | ||||||||||
ISSN: | 0016-0032 | ||||||||||
Official Date: | January 2021 | ||||||||||
Dates: |
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Volume: | 358 | ||||||||||
Number: | 1 | ||||||||||
Page Range: | pp. 699-722 | ||||||||||
DOI: | 10.1016/j.jfranklin.2020.11.002 | ||||||||||
Status: | Peer Reviewed | ||||||||||
Publication Status: | Published | ||||||||||
Access rights to Published version: | Restricted or Subscription Access | ||||||||||
Date of first compliant deposit: | 6 July 2022 | ||||||||||
Date of first compliant Open Access: | 6 July 2022 | ||||||||||
RIOXX Funder/Project Grant: |
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