Robust fault tolerant control of robot manipulators with global fixed-time convergence

DOI10.1016/j.jfranklin.2020.11.002zbMath1455.93041OpenAlexW3106093600MaRDI QIDQ2224771

Dariusz Ceglarek, Mien Van

Publication date: 4 February 2021

Published in: Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL: https://pure.qub.ac.uk/en/publications/robust-fault-tolerant-control-of-robot-manipulators-with-global-fixedtime-convergence(1b4ddb3f-8408-4534-ab70-bee10cbaa075).html

zbMATH Keywords

robot manipulatorssecond-order sliding mode observerrobust fault tolerant controlfixed-time stability

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Automated systems (robots, etc.) in control theory (93C85) Variable structure systems (93B12) Stability of control systems (93D99) Observers (93B53)

Related Items (8)

Fixed-time neuro-sliding mode controller design for quadrotor UAV transporting a suspended payload ⋮ Model free based finite time fault‐tolerant control of robot manipulators subject to disturbances and input saturation ⋮ Adaptive fixed‐time dynamic surface fault‐tolerant control of nonlinear systems with sensor faults ⋮ Fixed‐time integral sliding mode control for admittance control of a robot manipulator ⋮ Robust fixed-time cooperative control strategy design for nonlinear multiple-master/multiple-slave teleoperation system ⋮ Adaptive data-driven fault-tolerant control for nonlinear systems: Koopman-based virtual actuator approach ⋮ Predefined-time control for free-floating space robots in task space ⋮ Fast fixed-time vertical plane motion control of autonomous underwater gliders in shallow water

Cites Work

• Nonsingular fixed-time consensus tracking for second-order multi-agent networks
• Adaptive dual-layer super-twisting control and observation
• Convergent Fault Estimation for Linear Systems With Faults and Disturbances
• Fault Accommodation for Nonlinear Dynamic Systems

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