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

Ali, Khurram; Mehmood, Adeel; Iqbal, Jamshed

doi:10.1371/journal.pone.0256491

Cited by 21 publications

(10 citation statements)

References 30 publications

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“…In [26], a tuning function control scheme was presented for nonlinear systems with actuator or sensor faults and mismatched disturbances. In [27,28], some experts developed fault-tolerant control strategies for robot malfunctions. However, it is not comprehensive to only consider actuator faults.…”

Section: Introductionmentioning

confidence: 99%

Predefined Time and Accuracy Adaptive Fault-Tolerant Control for Nonlinear Systems with Multiple Faults

Su,

Jiang,

Tong

et al. 2024

Actuators

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This work mainly studies the issue of predefined time and accuracy adaptive fault-tolerant control for strict-feedback nonlinear systems with multiple faults. The faults in the controlled system include actuator faults and external system faults. The unknown functions for nonlinear systems are approximated by fuzzy logic systems (FLSs). And then, according to the backstepping technique and the predefined time stability theory, an adaptive fuzzy control algorithm is presented, which can make sure that all closed-loop system signals remain predefined time bound and the tracking error converges to a predefined accuracy within the predefined time. Ultimately, the effectiveness of the presented control algorithm is proved through two simulation examples.

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Section: Introductionmentioning

confidence: 99%

Predefined Time and Accuracy Adaptive Fault-Tolerant Control for Nonlinear Systems with Multiple Faults

Su,

Jiang,

Tong

et al. 2024

Actuators

View full text Add to dashboard Cite

show abstract

“…Robust control strategy ensures the system stability and specific performance not only in the nominal scenarios but also in case of external uncertainties [24][25][26][27][28]. It either counteracts the fault with efficient robustness by using a fixed gain controller or implements a fast dynamic compensation control input.…”

Section: Introductionmentioning

confidence: 99%

Certainty equivalence-based robust sliding mode control strategy and its application to uncertain PMSG-WECS

et al. 2023

Self Cite

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This work focuses on maximum power extraction via certainty equivalence-based robust sliding mode control protocols for an uncertain Permanent Magnet Synchronous Generator-based Wind Energy Conversion System (PMSG-WECS). The considered system is subjected to both structured and unstructured disturbances, which may occur through the input channel. Initially, the PMSG-WECS system is transformed into a Bronwsky form, i.e., controllable canonical form, which is composed of both internal and visible dynamics. The internal dynamics are proved stable, i.e., the system is in the minimum phase. However, the control of visible dynamics, to track the desired trajectory, is the main concern. To carry out this task, the certainty equivalence-based control strategies, i.e., conventional sliding mode control, terminal sliding mode control and integral sliding mode control are designed. Consequently, a chattering phenomenon is suppressed by the employment of equivalent estimated disturbances, which also enhance the robustness of the proposed control strategies. Eventually, a comprehensive stability analysis of the proposed control techniques is presented. All the theoretical claims are verified via computer simulations, which are performed in MATLAB/Simulink.

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“…These values can be expressed in the frequency domain [ 32 ] or the time domain [ 33 ]. In addition to the modern SMC algorithm, several other effective ways to control nonlinear systems, such as robust back-stepping control [ 34 ], adaptive FIT-SMC control [ 35 ], etc. Active suspension systems can make the ride more comfortable by generating impact forces.…”

Section: Introductionmentioning

confidence: 99%

Applying a PID-SMC synthetic control algorithm to the active suspension system to ensure road holding and ride comfort

Nguyen

2023

PLoS ONE

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Vehicle vibration has an essential effect on vehicle stability and smoothness. This article introduces a new solution to direct an active suspension system called the PID-SMC hybrid algorithm. In this work, a dynamic model is considered with external disturbances and parametric uncertainties. Besides, the design process of the hybrid controller is also clearly shown. Different from previous studies, this controller is built upon the synthesis of two component signals which are generated from two separate controllers. The error signals of the two-component controllers are derived from the results of the body displacement and acceleration measured by the sensors. A simulation process is done by the MATLAB software to evaluate the system’s quality. Two cases are used for the simulation, including four scenarios examined for each case. Based on the results obtained from the simulation and calculation technique, the acceleration and displacement values of a vehicle body were greatly decreased once the PID-SMC method was used, compared with the rest of situations. In the first case, the maximum value of the acceleration is only 0.54 (m/s2), while the average value and the RMS value are 0.06 (m/s2) and 0.07 (m/s2), respectively. In the second case, the maximum value of vehicle body displacement is only 9.54 (mm), only 8.75%, compared to cars with only mechanical suspensions. Besides, the change in the dynamic load at the wheel is also relatively small. Therefore, the road holding and ride comfort of the automobile has been improved. In the near future, this algorithm will be combined with intelligent control algorithms to apply to many different types of random stimuli from the road surface.

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

Cited by 21 publications

References 30 publications

Predefined Time and Accuracy Adaptive Fault-Tolerant Control for Nonlinear Systems with Multiple Faults

Predefined Time and Accuracy Adaptive Fault-Tolerant Control for Nonlinear Systems with Multiple Faults

Certainty equivalence-based robust sliding mode control strategy and its application to uncertain PMSG-WECS

Applying a PID-SMC synthetic control algorithm to the active suspension system to ensure road holding and ride comfort

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