Active fault-tolerant control of cable-driven parallel robots

Fazeli, Seyed Mahdi; Abedi, Mostafa; Molaei, Amir; Hassani, Masoud; Khosravi, Mohammad A.; Ameri, Adel

doi:10.1007/s11071-022-08184-x

Cited by 9 publications

(1 citation statement)

References 31 publications

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“…Fault-tolerant control can be broadly classified into two categories, which are active fault-tolerant control and passive fault-tolerant control. Active fault-tolerant control compensates for the robot's faults by detecting the fault information and providing the corresponding control signal through a fault-tolerant controller, making it suitable for high-precision control scenarios [28]. In contrast, passive fault-tolerant control considers the entire system and introduces fault-tolerance mechanisms to bring reliability [29].…”

Section: Introductionmentioning

confidence: 99%

Image-Based Visual Servoing for Three Degree-of-Freedom Robotic Arm with Actuator Faults

Li,

Peng,

et al. 2024

Actuators

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This study presents a novel image-based visual servoing fault-tolerant control strategy aimed at ensuring the successful completion of visual servoing tasks despite the presence of robotic arm actuator faults. Initially, a depth-independent image-based visual servoing model is established to mitigate the effects of inaccurate camera parameters and missing depth information on the system. Additionally, a robotic arm dynamic model is constructed, which simultaneously considers both multiplicative and additive actuator faults. Subsequently, model uncertainties, unknown disturbances, and coupled actuator faults are consolidated as centralized uncertainties, and an iterative learning fault observer is designed to estimate them. Based on this, suitable sliding surfaces and control laws are developed within the super-twisting sliding mode visual servo controller to rapidly reduce control deviation to near zero and circumvent the chattering phenomenon typically observed in traditional sliding mode control. Finally, through comparative simulation between different control strategies, the proposed method is shown to effectively counteract the effect of actuator faults and exhibit robust performance.

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Section: Introductionmentioning

confidence: 99%