scholarly journals Fault Tolerant Control Using Fractional-order Terminal Sliding Mode Control for Robotic Manipulators

2018 ◽  
Vol 27 (1) ◽  
Author(s):  
Saim AHMED ◽  
Haoping WANG ◽  
Yang TIAN
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Robotic Manipulators ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control

Fault tolerant control for robotic manipulator using fractional-order backstepping fast terminal sliding mode control

2021 ◽  
pp. 014233122110224
Author(s):  
Zeeshan Anjum ◽  
Yu Guo ◽  
Wei Yao
Keyword(s):  
Sliding Mode Control ◽  
Fractional Order ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Actuator Faults ◽  
Terminal Sliding Mode ◽  
Control Approach ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

In this paper, the problems of tracking control and finite-time stabilization of a high nonlinear system such as a robotic manipulator in the presence of actuator faults, uncertainties, and external disturbances are explored. In order to improve the performance of the system in the presence of actuator faults, uncertainties and external disturbances a novel fault tolerant control system based on fractional-order backstepping fast terminal sliding mode control is developed in this paper. The control system is developed by employing the results obtained from studies in the fields of fractional-order calculus, backstepping, sliding mode control, Mittag–Leffler stability, and finite-time Lyapunov stability. The performance of the suggested controller is then tested for a PUMA560 robot in which the first three joints are used. The simulation results validate the usefulness of the developed control approach in terms of accuracy of tracking, and convergence speed in the presence of disturbances, uncertainties and actuator faults. The trajectory tracking performance of the developed method is compared with other state of the art approaches such as conventional computed torque control, proportional integral derivative control and nonsingular fast terminal sliding mode control. The simulation results show that the proposed control approach performed better as compared to other control approaches in the presence of actuator faults, uncertainties, and disturbances.

scholarly journals Finite-Time Attitude Fault Tolerant Control of Quadcopter System via Neural Networks

Mathematics ◽  
2020 ◽  
Vol 8 (9) ◽  
pp. 1541 ◽  
Author(s):  
Ngoc Phi Nguyen ◽  
Nguyen Xuan Mung ◽  
Le Nhu Ngoc Thanh Ha ◽  
Tuan Tu Huynh ◽  
Sung Kyung Hong
Keyword(s):  
Sliding Mode Control ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Fault Tolerant Control ◽  
Terminal Sliding Mode Control ◽  
Actuator Faults ◽  
Model Uncertainties ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fast Terminal Sliding Mode

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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