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Robust fault tolerant control of robot manipulators with global fixed-time convergence
Journal of the Franklin Institute ( IF 3.7 ) Pub Date : 2020-11-12 , DOI: 10.1016/j.jfranklin.2020.11.002
Mien Van , Dariusz Ceglarek

In this paper, a robust fault tolerant control, which provides a global fixed-time stability, is proposed for robot manipulators. This approach is constructed based on an integration between a fixed-time second-order sliding mode observer (FxTSOSMO) and a fixed-time sliding mode control (FxTSMC) design strategy. First, the FxTSOSMO is developed to estimate the lumped disturbance with a fixed-time convergence. Then, based on the obtained disturbance estimation, the FxTSMC is developed based on a fixed-time sliding surface and a fixed-time reaching strategy to form a global fixed-time convergence of the system. The proposed approach is then applied for fault tolerant control of a PUMA560 robot and compared with other state-of-the-art controllers. The simulation results verify the outstanding fault estimation and fault accommodation capability of the proposed fault diagnosis observer and fault tolerant strategy, respectively.



中文翻译:

具有全局固定时间收敛的机器人机械手的鲁棒容错控制

在本文中,提出了一种鲁棒的容错控制,该控制提供了全局固定时间稳定性,用于机器人操纵器。此方法是基于固定时间二阶滑模观察器(FxTSOSMO)和固定时间滑模控件(FxTSMC)设计策略之间的集成而构造的。首先,开发了FxTSOSMO以估计具有固定时间收敛性的集总干扰。然后,基于获得的干扰估计,基于固定时间滑动表面和固定时间到达策略开发FxTSMC,以形成系统的全局固定时间收敛。然后,将所提出的方法应用于PUMA560机器人的容错控制,并与其他最新的控制器进行了比较。

更新日期:2020-12-25
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