Self-tuning fuzzy PID-nonsingular fast terminal sliding mode control for robust fault tolerant control of robot manipulators

This study investigates the design of fault-tolerant control involving adaptive nonsingular fast terminal sliding mode control and neural networks. Unlike those of previous control strategies, the adaptive law of the investigated algorithm is considered in both continuous and discontinuous terms, which means that any disturbances, model uncertainties, and actuator faults can be simultaneously compensated for. First, a quadcopter model is presented under the conditions of disturbances and uncertainties. Second, normal adaptive nonsingular fast terminal sliding mode control is utilized to handle these disturbances. Thereafter, fault-tolerant control based on adaptive nonsingular fast terminal sliding mode control and neural network approximation is presented, which can handle the actuator faults, model uncertainties, and disturbances. For each controller design, the Lyapunov function is applied to validate the robustness of the investigated method. Finally, the effectiveness of the investigated control approach is presented via comparative numerical examples under different fault conditions and uncertainties.

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Fault-Tolerant Attitude Controller Design for Deep Space Probe Via Adaptive Fast Terminal Sliding Mode Control

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4042548 ◽

2019 ◽

Vol 141 (9) ◽

Author(s):

Ruiyun Qi ◽

Weiwei Su ◽

Yizhen Meng

Keyword(s):

Sliding Mode Control ◽

Fault Tolerant ◽

Sliding Mode ◽

Terminal Sliding Mode Control ◽

Space Probe ◽

Deep Space ◽

Terminal Sliding Mode ◽

Mode Control ◽

Fast Terminal Sliding Mode ◽

Attitude Controller

For deep space probe subject to uncertain time-varying inertia matrix, unknown external disturbances, actuator faults, and misalignment, a fault-tolerant attitude controller is designed in this paper, which is based on adaptive control and fast terminal sliding mode control (FTSMC) theories. A new method to handle actuator uncertainties is developed, which redefines the effectiveness matrix and the misalignment matrix. Moreover, an explicit sufficient condition is presented in order to construct the fault-tolerant attitude controller. The proposed controller can stabilize the attitude control system with a fast convergence rate and high precision. Simulations results demonstrate the superior performance of the proposed controller.

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A Non-Singular Fast Terminal Sliding Mode Control Based on Third-Order Sliding Mode Observer for a Class of Second-Order Uncertain Nonlinear Systems and its Application to Robot Manipulators

IEEE Access ◽

10.1109/access.2020.2989613 ◽

2020 ◽

Vol 8 ◽

pp. 78109-78120 ◽

Cited By ~ 3

Author(s):

Van-Cuong Nguyen ◽

Anh-Tuan Vo ◽

Hee-Jun Kang

Keyword(s):

Nonlinear Systems ◽

Sliding Mode Control ◽

Sliding Mode ◽

Robot Manipulators ◽

Sliding Mode Observer ◽

Terminal Sliding Mode Control ◽

Uncertain Nonlinear Systems ◽

Third Order ◽

Terminal Sliding Mode ◽

Fast Terminal Sliding Mode

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Self-tuning fuzzy nonsingular proportional-integral-derivative type fast terminal sliding mode control for robotic manipulator in the presence of backlash hysteresis

Transactions of the Institute of Measurement and Control ◽

10.1177/01423312211013330 ◽

2021 ◽

pp. 014233122110133

Author(s):

Zeeshan Anjum ◽

Hui Zhou ◽

Yu Guo

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

Terminal Sliding Mode Control ◽

Proportional Integral Derivative ◽

External Disturbances ◽

Terminal Sliding Mode ◽

Proportional Integral ◽

Mode Control ◽

Fast Terminal Sliding Mode ◽

Self Tuning

The external disturbances and backlash hysteresis kind of nonlinearity present in the manipulator system can greatly affect the tracking performance of the system. In order to undo the effects of these external disturbances and backlash hysteresis, a robust controller is established based on the integration of self-tuning fuzzy nonsingular proportional-integral-derivative (PID) type fast terminal sliding mode control and time delay estimation (TDE). In this paper, TDE plays the part of estimating the unknown dynamics of the robotic manipulator and nonsingular PID type fast terminal sliding mode control in which the gains of PID are tuned using fuzzy logic system to get multiple beneficial characteristics, such as lower steady-state error, finite-time convergence and little chattering. In addition, the derivative of unknown dynamics that is considered to be bounded is dealt by utilizing the adaptive technique. Moreover, Lyapunov theorem is used to study the overall stability of the system. Finally, a comparative study in terms of trajectory tracking has been carried out between the proposed controller and other existing advanced control approaches using PUMA560 robot in order to verify the effectiveness of the proposed controller in the presence of external disturbances and bacsklash hysteresis.

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An Active Fault-Tolerant Control for Robotic Manipulators Using Adaptive Non-Singular Fast Terminal Sliding Mode Control and Disturbance Observer

Actuators ◽

10.3390/act10120332 ◽

2021 ◽

Vol 10 (12) ◽

pp. 332

Author(s):

Van-Cuong Nguyen ◽

Phu-Nguyen Le ◽

Hee-Jun Kang

Keyword(s):

Sliding Mode Control ◽

Finite Time ◽

Disturbance Observer ◽

Fault Tolerant ◽

Sliding Mode ◽

Robotic Manipulators ◽

Terminal Sliding Mode Control ◽

Terminal Sliding Mode ◽

Finite Time Convergence ◽

Fast Terminal Sliding Mode

In this study, a fault-tolerant control (FTC) tactic using a sliding mode controller–observer method for uncertain and faulty robotic manipulators is proposed. First, a finite-time disturbance observer (DO) is proposed based on the sliding mode observer to approximate the lumped uncertainties and faults (LUaF). The observer offers high precision, quick convergence, low chattering, and finite-time convergence estimating information. Then, the estimated signal is employed to construct an adaptive non-singular fast terminal sliding mode control law, in which an adaptive law is employed to approximate the switching gain. This estimation helps the controller automatically adapt to the LUaF. Consequently, the combination of the proposed controller–observer approach delivers better qualities such as increased position tracking accuracy, reducing chattering effect, providing finite-time convergence, and robustness against the effect of the LUaF. The Lyapunov theory is employed to illustrate the robotic system’s stability and finite-time convergence. Finally, simulations using a 2-DOF serial robotic manipulator verify the efficacy of the proposed method.

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