Fault diagnosis and fault-tolerant control of uncertain robot manipulators using high-order sliding mode
type: Item
instance of: scholarly article
title: Fault diagnosis and fault-tolerant control of uncertain robot manipulators using high-order sliding mode
zbMATH Open document ID: 1400.93214
DOI: 10.1155/2016/7926280
author: Mien Van
author: Pasquale Franciosa
author: Dariusz Ceglarek
published in: Mathematical Problems in Engineering
publication date: 2018-10-12T00:00:00Z
review text: Summary: A robust fault diagnosis and fault-tolerant control (FTC) system for uncertain robot manipulators without joint velocity measurement is presented. The actuator faults and robot manipulator component faults are considered. The proposed scheme is designed via an active fault-tolerant control strategy by combining a fault diagnosis scheme based on a super-twisting third-order sliding mode (STW-TOSM) observer with a robust super-twisting second-order sliding mode (STW-SOSM) controller. Compared to the existing FTC methods, the proposed FTC method can accommodate not only faults but also uncertainties, and it does not require a velocity measurement. In addition, because the proposed scheme is designed based on the high-order sliding mode (HOSM) observer/controller strategy, it exhibits fast convergence, high accuracy, and less chattering. Finally, computer simulation results for a PUMA560 robot are obtained to verify the effectiveness of the proposed strategy.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 70E60
Mathematics Subject Classification ID: 93B12
Mathematics Subject Classification ID: 94C12
zbMATH DE Number: 6953594
Wikidata QID: Q59141241
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2016/7926280
OpenAlex ID: W2507795633
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description: scientific article; zbMATH DE number 6953594