Adaptive Sliding Mode Control of Robot Manipulators with System Failures

Li, Rui; Yang, Liang; Chen, Yong; Lai, Guanyu

doi:10.3390/math10030339

Cited by 11 publications

(6 citation statements)

References 41 publications

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“…The above inequality (35), can be transformed into the following three forms: 36) can be formulated as given below…”

Section: Fixed-time Adaptive Sliding Mode Disturbance Observermentioning

confidence: 99%

Disturbance‐observer‐based fault‐tolerant control of robotic manipulator: A fixed‐time adaptive approach

Anjum,

Sun,

Chen

2024

IET Control Theory & Appl

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The concurrent existence of model uncertainties, external disturbances, and actuator faults in a nonlinear system such as a robotic manipulator can significantly affect the trajectory tracking performance of these systems. Therefore this study is devoted to proposing a control approach based on fixed‐time control theory to improve the trajectory tracking performance of the robotic manipulator in the presence of lumped disturbance, including uncertainties, external disturbances, and actuator faults. The control approach in this paper is designed based on the integration of a fixed‐time adaptive sliding mode observer and a fixed‐time non‐singular fast terminal sliding mode control design strategy. Firstly, a new fixed‐time adaptive sliding mode observer is designed based on fixed‐time theory and adaptive control theory to estimate the lumped disturbance present in the system. Then, using the information from the disturbance observer, the fixed‐time non‐singular fast terminal sliding mode control is devised based on a non‐singular fixed‐time sliding surface and a fixed‐time reaching approach. Furthermore, in the sense of the Lyapunov theorem, through rigorous analysis, it is demonstrated that the tracking errors of the closed‐loop system converge to a small neighbourhood within a fixed time, regardless of the information about the initial conditions of the states of the system. Finally, extensive comparative simulations are performed using the PUMA560 robot to manifest the feasibility and validity of the proposed control strategy in terms of trajectory tracking accuracy and fast convergence in the presence of uncertainties, disturbances, and actuator faults.

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“…The above inequality (35), can be transformed into the following three forms: 36) can be formulated as given below…”

Section: Fixed-time Adaptive Sliding Mode Disturbance Observermentioning

confidence: 99%

Disturbance‐observer‐based fault‐tolerant control of robotic manipulator: A fixed‐time adaptive approach

Anjum,

Sun,

Chen

2024

IET Control Theory & Appl

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“…In Ref. [21], to ensure the finite-time convergence of the RMs' trajectory, an AC was synthesized by transforming a Lyapunov function into a non-Lipschitz one. Ref.…”

Section: Introductionmentioning

confidence: 99%

Fixed-Time Sliding Mode-Based Active Disturbance Rejection Tracking Control Method for Robot Manipulators

Truong

et al. 2023

Machines

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This work investigates the issue of a hybrid trajectory tracking control algorithm (HTCA) for robot manipulators (RMs) with uncertain dynamics and the effect of external disturbances. Following are some proposals for achieving the control target. Firstly, to achieve the active disturbance rejection, we propose a uniform second-order sliding mode disturbance observer (USOSMDO) to obtain directly the lumped uncertainties without their prior upper-bound information. Secondly, a fixed-time singularity-free terminal sliding surface (FxSTSS) is proposed to obtain a fixed-time convergence of the tracking control error (TCE) without the singularity in the control input. Then, using information on the proposed USOSMDO, our HTCA is formed based on the FxSTSS and the fixed-time power rate reaching law (FxPRRL). The control proposal not only stabilizes with the global fixed-time convergence but also attains high tracking accuracy. In addition, the chattering problem also is handled almost completely. Finally, numerical simulations verify the effectiveness and advantages of applying the proposed HTCA to a FARA robot.

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“…Trajectory tracking control is the basis tasks in the field of robotic systems. There present common treatment methods: the feedback linearization method [1, 2], the motion/force control method [3, 4], the proportional‐derivative (PD) control approach [5, 6], the adaptive sliding mode technique [7, 8], that is, besides the above‐mentioned control methods, it is well‐known that backstepping and dynamic surface control (DSC) are two effective design tools for nonlinear systems. Backstepping/recursive design method was first developed for linearizable feedback systems in Kanellakopoulos et al [9].…”

Section: Introductionmentioning

confidence: 99%

Command filter‐based adaptive control of flexible‐joint manipulator with input saturation and output constraints

Miao

Zhang

2023

Asian Journal of Control

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This paper focuses on the topic of adaptive neural tracking control for flexible‐joint manipulator systems with output restrictions and input saturation. With the aid of the error compensation mechanism, command filter‐based adaptive neural control is proposed for robotic systems driven by permanent magnet synchronous machine (PMSM). An auxiliary signal produced by the first‐order linear system designed by the property of unmodeled dynamics is used to erase the dynamical uncertainties. The input saturation of system is estimated by ‐function with mathematical transformation. Using barrier Lyapunov function (BLF), each component constraint of output is tackled. During the virtual control design phase, radial basis function neural networks (RBFNNs) may reliably assess the unknown nonlinear continuous function. All the variables in the closed‐loop system are proved to be semiglobally uniform ultimate bounded (SGUUB) by integrating all compensation signals into the overall Lyapunov function and using the defined compact set in the stability analysis of dynamic surface control (DSC). An applied example on robotic system is used to verify the effectiveness of the constructed design idea.

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Adaptive Sliding Mode Control of Robot Manipulators with System Failures

Cited by 11 publications

References 41 publications

Disturbance‐observer‐based fault‐tolerant control of robotic manipulator: A fixed‐time adaptive approach

Disturbance‐observer‐based fault‐tolerant control of robotic manipulator: A fixed‐time adaptive approach

Fixed-Time Sliding Mode-Based Active Disturbance Rejection Tracking Control Method for Robot Manipulators

Command filter‐based adaptive control of flexible‐joint manipulator with input saturation and output constraints

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