Active fault-tolerant control of a Schon''flies parallel manipulator based on time delay estimation

被引：23

作者：

Ghaf-Ghanbari, Pegah ^{[1
]}

Mazare, Mahmood ^{[1
]}

Taghizadeh, Mostafa ^{[1
]}

机构：

[1] Shahid Beheshti Univ, Fac Mech & Energy Engn, Tehran, Iran

来源：

ROBOTICA | 2021年 / 39卷 / 08期

关键词：

Fault-tolerant control (FTC); Terminal sliding mode; Time delay estimation (TDE); Parallel robot; Schonflies motion generator; SLIDING-MODE-OBSERVER; MARKOVIAN JUMP SYSTEMS; CONTROL SCHEME; ACTUATOR; ROBOT; DESIGN; DIAGNOSIS;

D O I：

10.1017/S0263574720001319

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, a new hybrid fault-tolerant control (FTC) strategy based on nonsingular fast integral-type terminal sliding mode (NFITSM) and time delay estimation (TDE) is proposed for a Schonflies parallel manipulator. In order to detect, isolate, and accommodate actuator faults, TDE is used as an online fault estimation algorithm. Stability analysis of the closed-loop system is performed using Lyapunov theory. The proposed controller performance is compared with conventional sliding mode and feedback linearization control methods. The obtained results reveal the superiority of the proposed FTC based on TDE and NFITSM.

引用

页码：1518 / 1535

页数：18

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