Finite Time Fault Tolerant Control for Robot Manipulators Using Time Delay Estimation and Continuous Nonsingular Fast Terminal Sliding Mode Control

被引:372
作者
Van, Mien [1 ,2 ]
Ge, Shuzhi Sam [3 ,4 ]
Ren, Hongliang [5 ,6 ]
机构
[1] Natl Univ Singapore, Dept Biomed Engn, Singapore 117575, Singapore
[2] Univ Warwick, Int Mfg Ctr, WMG, Coventry, W Midlands, England
[3] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117580, Singapore
[4] Natl Univ Singapore, Social Robot Lab, Singapore 117580, Singapore
[5] Natl Univ Singapore, Dept Biomed Engn, Singapore 117580, Singapore
[6] Natl Univ Singapore, Adv Robot Ctr, Singapore 117580, Singapore
关键词
Fault diagnosis (FD); fault tolerant control (FTC); robot manipulators; terminal sliding mode; time delay estimation (TDE); NONLINEAR-SYSTEMS; CONTROL DESIGN; MOTION CONTROL; CONTROL SCHEME; DIAGNOSIS; OBSERVER; SPACECRAFT; TRACKING;
D O I
10.1109/TCYB.2016.2555307
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, a novel finite time fault tolerant control (FTC) is proposed for uncertain robot manipulators with actuator faults. First, a finite time passive FTC (PFTC) based on a robust nonsingular fast terminal sliding mode control (NFTSMC) is investigated. Be analyzed for addressing the disadvantages of the PFTC, an AFTC are then investigated by combining NFTSMC with a simple fault diagnosis scheme. In this scheme, an online fault estimation algorithm based on time delay estimation (TDE) is proposed to approximate actuator faults. The estimated fault information is used to detect, isolate, and accommodate the effect of the faults in the system. Then, a robust AFTC law is established by combining the obtained fault information and a robust NFTSMC. Finally, a high-order sliding mode (HOSM) control based on super-twisting algorithm is employed to eliminate the chattering. In comparison to the PFTC and other state-of-the-art approaches, the proposed AFTC scheme possess several advantages such as high precision, strong robustness, no singularity, less chattering, and fast finite-time convergence due to the combined NFTSMC and HOSM control, and requires no prior knowledge of the fault due to TDE-based fault estimation. Finally, simulation results are obtained to verify the effectiveness of the proposed strategy.
引用
收藏
页码:1681 / 1693
页数:13
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