Active fault-tolerant control of a Schon̈flies parallel manipulator based on time delay estimation

Ghaf-Ghanbari, Pegah; Mazare, Mahmood; Taghizadeh, Mohammad Javad

doi:10.1017/s0263574720001319

Cited by 25 publications

(8 citation statements)

References 36 publications

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“…where κ 3 is an arbitrary positive constant satisfying κ 3 ≤ min(β i ). Thus, Lyapunov derivative (51) satisfies condition (5). Meanwhile, Lyapunov function (48) also satisfies κ 1 e 2 ≤ V = 0.5( e 2 + s 2 ) ≤ κ 2 e 2 or equivalently κ 1 e ≤ V ≤ κ 2 e .…”

Section: Proof: Consider the Positive Lyapunov Functionmentioning

confidence: 97%

Adaptive fractional-order integral fast terminal sliding mode and fault-tolerant control of dual-arm robots

Tuan,

2024

Robotica

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Closed-loop kinematics of a dual-arm robot (DAR) often induces motion conflict. Control formulation is increasingly difficult in face of actuator failures. This article presents a new approach for fault-tolerant control of DARs based on advanced sliding mode control. A comprehensive fractional-order model is proposed taking nonlinear viscous and viscoelastic friction at the joints into account. Using integral fast terminal sliding mode control and fractional calculus, we develop two robust controllers for robots subject to motor faults, parametric uncertainties, and disturbances. Their merits rest with their strong robustness, speedy finite-time convergence, shortened reaching phase, and flexible selection of derivative orders. To avoid the need for full knowledge of faults, robot parameters, and disturbances, two versions of the proposed approach, namely adaptive integral fractional-order fast terminal sliding mode control, are developed. Here, an adaptation mechanism is equipped for estimating a common representative of individual uncertainties. Simulation and experiment are provided along with an extensive comparison with existing approaches. The results demonstrate the superiority of the proposed control technique. The robot performs well the tasks with better responses (e.g., with settling time reduced by at least 16%).

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Section: Proof: Consider the Positive Lyapunov Functionmentioning

confidence: 97%

Adaptive fractional-order integral fast terminal sliding mode and fault-tolerant control of dual-arm robots

Tuan,

2024

Robotica

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“…Richardson studied two types of impedance control: position-based and force-based. 50 Transfer function between position and force can be written as:…”

Section: Impedance Controlmentioning

confidence: 99%

“…Richardson studied two types of impedance control: position-based and force-based. 50 Transfer function between position and force can be written as:where, xi denotes the position under the effect of external force, Fitalicext, and trueM¯,true C¯, and trueK¯ denote inertia, damping, and stifness, respectively. In this paper, a position-based impedance control, proposed by Seraji and Colbaugh is employed.…”

Section: Controller Designmentioning

confidence: 99%

Fault tolerant control based on backstepping nonsingular terminal integral sliding mode and impedance control for a lower limb exoskeleton

Mokhtari

Taghizadeh

Ghanbari

2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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In this paper, an active fault-tolerant control scheme is proposed for a lower limb exoskeleton, based on hybrid backstepping nonsingular fast terminal integral type sliding mode control and impedance control. To increase the robustness of the sliding mode controller and to eliminate the chattering, a nonsingular fast terminal integral type sliding surface is used, which ensures finite time convergence and high tracking accuracy. The backstepping term of this controller guarantees global stability based on Lyapunov stability criterion, and the impedance control reduces the interaction forces between the user and the robot. This controller employs a third order super twisting sliding mode observer for detecting, isolating ad estimating sensor and actuator faults. Motion stability based on zero moment point criterion is achieved by trajectory planning of waist joint. Furthermore, the highest level of stability, minimum error in tracking the desired joint trajectories, minimum interaction force between the user and the robot, and maximum system capability to handle the effect of faults are realized by optimizing the parameters of the desired trajectories, the controller and the observer, using harmony search algorithm. Simulation results for the proposed controller are compared with the results obtained from adaptive nonsingular fast terminal integral type sliding mode control, as well as conventional sliding mode control, which confirm the outperformance of the proposed control scheme.

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“…The approaches have been primarily focused on systems affected by sensor faults [ 1 , 2 , 3 ], actuator faults [ 4 , 5 ] and simultaneously both sensor and actuator faults [ 6 , 7 , 8 , 9 ]. Many well-known advanced control methods have been proposed as a way to cope with fault occurrences: these methods include—but are not limited to—sliding mode control [ 10 , 11 , 12 , 13 ], adaptive control [ 14 ], model predictive control [ 15 , 16 ], artificial neural network control [ 17 , 18 , 19 ], fuzzy control [ 20 ], and hybrid control [ 21 , 22 , 23 , 24 ].…”

Section: Introductionmentioning

confidence: 99%

Min–Max Optimal Control of Robot Manipulators Affected by Sensor Faults

Milić

Kasač

Lukas

2023

Sensors

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This paper is concerned with the control law synthesis for robot manipulators, which guarantees that the effect of the sensor faults is kept under a permissible level, and ensures the stability of the closed-loop system. Based on Lyapunov’s stability analysis, the conditions that enable the application of the simple bisection method in the optimization procedure were derived. The control law, with certain properties that make the construction of the Lyapunov function much easier—and, thus, the determination of stability conditions—was considered. Furthermore, the optimization problem was formulated as a class of problem in which minimization and maximization of the same performance criterion were simultaneously carried out. The algorithm proposed to solve the related zero-sum differential game was based on Newton’s method with recursive matrix relations, in which the first- and second-order derivatives of the objective function are calculated using hyper-dual numbers. The results of this paper were evaluated in simulation on a robot manipulator with three degrees of freedom.

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Active fault-tolerant control of a Schon̈flies parallel manipulator based on time delay estimation

Cited by 25 publications

References 36 publications

Adaptive fractional-order integral fast terminal sliding mode and fault-tolerant control of dual-arm robots

Adaptive fractional-order integral fast terminal sliding mode and fault-tolerant control of dual-arm robots

Fault tolerant control based on backstepping nonsingular terminal integral sliding mode and impedance control for a lower limb exoskeleton

Min–Max Optimal Control of Robot Manipulators Affected by Sensor Faults

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