Fixed-Time Fault-Tolerant Sliding Mode Control for Robot Manipulator

被引：0

作者：

Cheng, Rong ^{[1
]}

Li, Lizhen ^{[1
]}

Li, Haoyun ^{[1
]}

Cheng, Songsong ^{[1
]}

Fang, Xiaohan ^{[1
]}

Fan, Yuan ^{[1
]}

机构：

[1] Anhui Univ, Sch Elect Engn & Automat, Anhui Engn Lab Human Robot Integrat Syst & Intell, Hefei 230601, Peoples R China

来源：

2022 41ST CHINESE CONTROL CONFERENCE (CCC) | 2022年

基金：

中国国家自然科学基金;

关键词：

Fault-tolerant; nonsingular; fixed time sliding mode control; Lyapunov stability theory; TRACKING CONTROL; CONTROL DESIGN;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a fault-tolerant control with fixed time convergence for a class of robot manipulators over uncertainties, external disturbances and actuator faults. We design a disturbance observer to estimate and reject the external disturbance. Moreover, based on the disturbance observer, we propose a sliding mode control method for the considered the uncertain robot manipulators. Finally, we show a numerical example to illustrate the effectiveness of the proposed method.

引用

页码：581 / 586

页数：6

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