Journal
IEEE ACCESS
Volume 8, Issue -, Pages 109388-109400Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/ACCESS.2020.3001391
Keywords
Uncertainty; Manipulators; Sliding mode control; Convergence; Fault tolerance; Fault-tolerant control; Non-Singular Fast Terminal Sliding Mode Control; robotic manipulators; disturbance observer; Super-Twisting Control Law
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Funding
- Basic Science Research Program through the National Research Foundation of Korea (NRF) - Ministry of Education [NRF-2019R1D1A3A03103528]
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In this study, a novel Fault-Tolerant Control Methodology (FTCM) is developed for robot manipulators. First, to overcome singularity glitch and to enhance convergence time of conventional Terminal Sliding Mode Control (TSMC), a new Fast Terminal Sliding Mode Surface (FTSMS) is constructed. Next, to reduce the computation complexity and to provide requirements about undefined nonlinear functions for the control system, a Disturbance Observer (DO) to estimate uncertain dynamics, external disturbances, or faults. Besides, a Super-Twisting Reaching Control Law (STRCL) is designed to compensate for the estimated error of disturbance observer with chattering rejection. Final, a novel, robust, FTCM was developed for robot manipulators to obtain the stability goal of the system, to reach the prescribed performance, and to overcome the effects of disturbances, nonlinearities, or faults. Accordingly, the proposed FTCM has remarkable features, such as fast convergence speeds, robust precision, high tracking performance, significant alleviation of chattering behavior, and finite-time convergence. The position tracking computer simulations were implemented to exhibit the effectiveness and feasibility of the suggested FTCM compared with other control algorithms.
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