Journal
IEEE ACCESS
Volume 9, Issue -, Pages 88439-88451Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2021.3087505
Keywords
Robot sensing systems; Estimation; Actuators; Observers; End effectors; Impedance; Force; Sensor fault estimation; extended state observer (ESO); fault-tolerant control (FTC); force control; impedance control
Categories
Funding
- Basic Science Program through the National Research Foundation of Korea (NRF) by the Ministry of Science and ICT, South Korea [NRF 2020R1A2B5B03001480]
Ask authors/readers for more resources
This paper proposes a fault-tolerant control design based on impedance control and backstepping sliding mode control algorithm for a serial hydraulic manipulator to address faults and uncertainties, achieving force and position tracking performance through mathematical modeling and fault estimation algorithm.
This paper presents a fault-tolerant control (FTC) based on impedance control and full state feedback backstepping sliding mode control (FBSMC) algorithm for an n degree of freedoms (n-DOF) serial hydraulic manipulator under the presence of matched and mismatched uncertainties and sensor faults in the constrained framework. These faulty signals, generated from unknown constant or time-variant offset values, happen on both manipulator joint angles and force sensors; thereby degrading the system performance. Therefore, to address both matched and mismatched uncertainties and signal faults, the system dynamics subjects to the sensor faults is mathematically modeled. Then, the robust fault estimation algorithm based on extended state observer (ESO) is proposed to estimate the system state and faulty signals for the FTC design to achieve the force and position tracking performance. System stability of the proposed control scheme is theoretically proven by performing Lyapunov theorems. Finally, comparative simulation results are given on a 3-DOF serial hydraulic manipulator to evaluate the effectiveness of the proposed fault estimation and FTC methodology.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available