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Fault-tolerant control based on adaptive super-twisting nonsingular integral-type terminal sliding mode for a delta parallel robot

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Abstract

External disturbances, internal uncertainties and actuator faults with an unknown range have detrimental effects on controller performance of industrial robots. In this paper, to deal with such challenges, a new fault-tolerant control (FTC) strategy using a combination of nonsingular integral-type terminal sliding mode (NITSM) and adaptive high-order super-twisting (AST) control is proposed for a delta-type parallel robot. To eliminate the chattering of sliding mode controller as a key ingredient of excessive energy consumption and convergence rate reduction, high-order algorithm is applied. Stability analysis of the closed-loop system is performed using Lyapunov theory. Moreover, to achieve optimal performance, controller parameters are obtained using harmony search algorithm (HSA) by minimizing an objective function consisting of integral time absolute error (ITAE) and control signal rate. The proposed controller performance is compared with conventional sliding mode and feedback linearization control methods. The obtained results reveal the superiority of the proposed AST-NITSM.

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Authors and Affiliations

  1. School of Mechanical Engineering, Shahid Beheshti University, P.O.B. 1743524155, Tehran, Iran

    Mahmood Mazare, Mostafa Taghizadeh & Pegah Ghaf-Ghanbari

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  1. Mahmood Mazare
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  2. Mostafa Taghizadeh
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  3. Pegah Ghaf-Ghanbari
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Correspondence to Mostafa Taghizadeh.

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Technical Editor: Adriano Almeida Gonçalves Siqueira.

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Mazare, M., Taghizadeh, M. & Ghaf-Ghanbari, P. Fault-tolerant control based on adaptive super-twisting nonsingular integral-type terminal sliding mode for a delta parallel robot. J Braz. Soc. Mech. Sci. Eng. 42, 443 (2020). https://doi.org/10.1007/s40430-020-02510-3

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