Adaptive Backstepping Based Sensor and Actuator Fault Tolerant Control of a Manipulator

Awan, Zainab Shahid; Ali, Khurram; Iqbal, Jamshed; Mehmood, Adeel

doi:10.1007/s42835-019-00277-9

Cited by 27 publications

(25 citation statements)

References 9 publications

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“…In the scenario of fault, the nominal control is modified to preserve performance. Passive FTC is accomplished by designing the back-stepping control method [31] and considering the fault as a bounded uncertainty [32]. The design controller can be used as nominal control for A-FTCS design, further for the on-line faults estimation and tolerance is performed by modifying this nominal controller.…”

Section: Nominal Controlmentioning

confidence: 99%

Fault-tolerant scheme for robotic manipulator—Nonlinear robust back-stepping control with friction compensation

2021

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Emerging applications of autonomous robots requiring stability and reliability cannot afford component failure to achieve operational objectives. Hence, identification and countermeasure of a fault is of utmost importance in mechatronics community. This research proposes a Fault-tolerant control (FTC) for a robot manipulator, which is based on a hybrid control scheme that uses an observer as well as a hardware redundancy strategy to improve the performance and efficiency in the presence of actuator and sensor faults. Considering a five Degree of Freedom (DoF) robotic manipulator, a dynamic LuGre friction model is derived which forms the basis for design of control law. For actuator’s and sensor’s FTC, an adaptive back-stepping methodology is used for fault estimation and the nominal control law is used for the controller reconfiguration and observer is designed. Fault detection is accomplished by comparing the actual and observed states, pursued by fault tolerant method using redundant sensors. The results affirm the effectiveness of the proposed FTC strategy with model-based friction compensation. Improved tracking performance as well robustness in the presence of friction and fault demonstrate the efficiency of the proposed control approach.

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Section: Nominal Controlmentioning

confidence: 99%

Fault-tolerant scheme for robotic manipulator—Nonlinear robust back-stepping control with friction compensation

2021

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“…In recent years, advances in theoretical tools [44,45] and the introduction of the quadratic programming (QP) solver has enabled legged robots to handle high slope dynamic tasks。 Righetti [46,47] optimizes the contact force between the robot and the ground in response to unpredictable interference in the environment. By referring to the inverse dynamics that were applied to the manipulator [48], an inverse dynamics controller that is suitable for the legged robot is developed. Different from taking contact force control as the main control target, contact force operation in inverse kinematics is completed through torque redundant resolution, so the main goal…”

Section: Walking Mothed On High Slopementioning

confidence: 99%

Survey of Quadruped Robots Coping Strategies in Complex Situations

Shao

Sun

et al. 2019

Electronics

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As an important branch of mobile robots, quadruped robots have high flexibility, high adaptability, and high dynamics, which provide excellent maneuverability and environmental adaptability. In the past ten years, researchers have done a lot of research on the ability of the quadruped robot to cope with the complex environment and published many results in order to make the working environment of the quadruped robot closer to reality. This paper collected these research results and divided these literatures into three categories according to different situations: crossing challenging terrain, walking on slope, and coping with interference, respectively, introducing representative methods. The purpose of this review is to summarize and analyze the previous research results and provide guidance for future research on quadruped robots in complex situations.

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“…Different approaches have been proposed for FD, including intelligent learning techniques [12,13,14] sliding mode observer (SMO) [15,16,17], or a combination of these approaches [4,18]. However, intelligent techniques suffer from high computational cost and difficult implementation, and the SMO method requires the pre-knowledge about bounds of faults which in most practical cases is not known.…”

Section: Introductionmentioning

confidence: 99%

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

2021

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In this paper, a new hybrid fault-tolerant control (FTC) strategy based on nonsingular fast integral-type terminal sliding mode (NFITSM) and time delay estimation (TDE) is proposed for a Schönflies parallel manipulator. In order to detect, isolate, and accommodate actuator faults, TDE is used as an online fault estimation algorithm. Stability analysis of the closed-loop system is performed using Lyapunov theory. The proposed controller performance is compared with conventional sliding mode and feedback linearization control methods. The obtained results reveal the superiority of the proposed FTC based on TDE and NFITSM.

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Adaptive Backstepping Based Sensor and Actuator Fault Tolerant Control of a Manipulator

Cited by 27 publications

References 9 publications

Fault-tolerant scheme for robotic manipulator—Nonlinear robust back-stepping control with friction compensation

Fault-tolerant scheme for robotic manipulator—Nonlinear robust back-stepping control with friction compensation

Survey of Quadruped Robots Coping Strategies in Complex Situations

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

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