Fault Identification in Electric Servo Actuators of Robot Manipulators Described by Nonstationary Nonlinear Dynamic Models Using Sliding Mode Observers

Zuev, Alexander; Zhirabok, Alexey; Filaretov, Vladimir; Alexander, Priscilla

doi:10.3390/s22010317

Cited by 2 publications

(1 citation statement)

References 39 publications

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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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Section: Introductionmentioning

confidence: 99%

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

Milić

Kasač

Lukas

2023

Sensors

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Finite-Time Extended State Observe Based Fault Tolerant Control for Autonomous Underwater Vehicle with Unknown Thruster Fault

Liu¹,

Zhang²,

Liu³

et al. 2022

JMSE

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This paper investigates the problem of fault tolerant control (FTC) for autonomous underwater vehicles (AUVs) with multiple thrusters in the presence of current disturbances, thruster faults, and modelling uncertainty. This paper focuses on the problems of reducing the energy consumption caused by the chattering of control signals and improving the tracking accuracy of an AUV operating in deep-sea environments. In view of the problem of large energy consumption in some other methods, a fault tolerant control method for multiple-thruster AUVs based on a finite-time extended state observer (FTESO) is proposed. More specifically, a FTESO based on an integral sliding mode surface is designed to estimate the generalized uncertainty compounded using current disturbances, thruster faults, and modelling uncertainty. The fast finite-time uniformly ultimately bounded stability of the proposed FTESO is analyzed. Then, based on the estimated value of FTESO, an FTC method based on non-singular fast terminal sliding mode surfaces is developed for AUVs. The finite-time convergence of the closed-loop control system is proved theoretically. In this design, two different sliding mode surfaces are used to design FTESO and FTC, in order to avoid the appearance of singularities. Moreover, a parameter adjustment method is designed to improve tracking accuracy. Finally, comparative numerical simulations show that the proposed control scheme is effective at reducing energy consumption and improving tracking accuracy.

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Fault Identification in Electric Servo Actuators of Robot Manipulators Described by Nonstationary Nonlinear Dynamic Models Using Sliding Mode Observers

Cited by 2 publications

References 39 publications

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

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

Finite-Time Extended State Observe Based Fault Tolerant Control for Autonomous Underwater Vehicle with Unknown Thruster Fault

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