Real Implementation of Fault-Tolerant Sliding Mode Control for a Robot Manipulator

In this paper, an active fault-tolerant sliding mode control of robot manipulator is proposed and real implemented for a 3-DOF robot manipulator. When the unknown actuator faults occur sometime during the robot operation, an external linear state observer is adopted to estimate uncertainties/disturb...

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Bibliographic Details
Published in2018 3rd International Conference on Control, Robotics and Cybernetics (CRC) pp. 48 - 52
Main Authors Le, Quang Dan, Kang, Hee-Jun
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2018
Subjects
external linear observer
Fault tolerance
Fault tolerant systems
fault-tolerant control
fault-tolerant sliding mode control
Field-flow fractionation
Manipulators
Observers
robot manipulator control
Sliding mode control
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DOI10.1109/CRC.2018.00018

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Summary:In this paper, an active fault-tolerant sliding mode control of robot manipulator is proposed and real implemented for a 3-DOF robot manipulator. When the unknown actuator faults occur sometime during the robot operation, an external linear state observer is adopted to estimate uncertainties/disturbances and faults. By using this observer, we no need the exact knowledge of the upper bound of faults. Then, the active fault-tolerant sliding mode control with online compensation based on the estimation is proposed. The stability of system was proved by using Lyapunov theory. Finally, the simulation and experimental results for a robot manipulator are shown to illustrate the effectiveness of the proposed control.
DOI:10.1109/CRC.2018.00018