Fixed‐time fault‐tolerant control of manipulator systems based on sliding mode observer

Abstract

A fixed‐time fault‐tolerant control scheme based on sliding mode observer is proposed, which makes the system more stable and stronger anti‐jamming ability. In our design, its distinct characteristic is to combine the passive fault‐tolerant control and non‐singular fast terminal sliding mode (NFTSM). And it ensures that the system states can converge to a very small neighborhood near the equilibrium point in a fixed time no matter in normal condition or fault condition. In addition, a novel sliding‐mode observer and a fast variable power reaching law are added to make the system converge faster and chattering smaller. Finally, the computer simulation results of a two‐joint manipulator demonstrate the feasibility of the proposed strategy.

Adaptive integral sliding mode fault‐tolerant control for diesel engine air path system via disturbance observer

“…In order to solve the above control problems, the relevant literature was investigated. [22][23][24][25][26][27][28][29][30][31][32] Sliding mode control, known for its robustness against external disturbances and system uncertainties, has been extensively employed by researchers in the design of fault-tolerant control methods. To concurrently manage matched and mismatched disturbances within the system, a novel sliding mode control design methodology was introduced in the paper.…”

Adaptive integral sliding mode fault-tolerant control for diesel engine air path system via disturbance observer

“…In order to solve the above control problems, the relevant literature was investigated (22)(23)(24)(25)(26)(27)(28)(29)(30)(31)(32),. Sliding mode control, known for its robustness against external disturbances and system uncertainties, has been extensively employed by researchers in the design of fault-tolerant control methods.…”

“…This design takes into account the presence of actuator faults and parameter uncertainty within the model. For manipulator systems, both (29) and (30) design fault-tolerant controllers based on the sliding mode method. The difference is that (29) proposes an integral sliding manifold technology based on auxiliary functions, which can fully eliminate the influence of system uncertainties; while (30) makes the system more stable by using sliding mode observer technology.…”

“…For manipulator systems, both (29) and (30) design fault-tolerant controllers based on the sliding mode method. The difference is that (29) proposes an integral sliding manifold technology based on auxiliary functions, which can fully eliminate the influence of system uncertainties; while (30) makes the system more stable by using sliding mode observer technology. (31) proposes a fault-tolerant controller based on adaptive sliding mode for quadrotor unmanned aerial.…”