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...

Full description

Saved in:
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
Online AccessGet full text
DOI10.1109/CRC.2018.00018

Cover

Abstract 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.
AbstractList 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.
Author Kang, Hee-Jun
Le, Quang Dan
Author_xml – sequence: 1
  givenname: Quang Dan
  surname: Le
  fullname: Le, Quang Dan
  organization: University of Ulsan
– sequence: 2
  givenname: Hee-Jun
  surname: Kang
  fullname: Kang, Hee-Jun
  organization: University of Ulsan
BookMark eNotjz1PwzAUAI1EB1q6srD4DyT4xfVHRhRRqNSqUshevSQvyJJjR8Yd-PdUguVuO-nW7D7EQIw9gSgBRP3StE1ZCbClEDfesTUoabUx0qoH1raEnh_mxdNMIWN2MfA48T1efS666ClhyPzTu9GFL36KI_Emhpyi51NMHHkb-5j5CYNbrh5zTI9sNaH_pu2_N6zbv3XNR3E8vx-a12PhwKhc1DBqGpVUFrGWegCNQsmdpB0OFSlrBOmhqmsLPWiQUvWVhWHSdlAgtZEb9vyXdUR0WZKbMf1crLG3TSN_AdvfSio
ContentType Conference Proceeding
DBID 6IE
6IL
CBEJK
RIE
RIL
DOI 10.1109/CRC.2018.00018
DatabaseName IEEE Electronic Library (IEL) Conference Proceedings
IEEE Xplore POP ALL
IEEE Xplore All Conference Proceedings
IEEE Electronic Library (IEL)
IEEE Proceedings Order Plans (POP All) 1998-Present
DatabaseTitleList
Database_xml – sequence: 1
  dbid: RIE
  name: IEEE Electronic Library (IEL)
  url: https://proxy.k.utb.cz/login?url=https://ieeexplore.ieee.org/
  sourceTypes: Publisher
DeliveryMethod fulltext_linktorsrc
EISBN 1538677385
9781538677384
EndPage 52
ExternalDocumentID 8780007
Genre orig-research
GroupedDBID 6IE
6IL
CBEJK
RIE
RIL
ID FETCH-LOGICAL-i175t-91d6ed5358aa936c16a05343e4ac2e5870e6c29981b161335b281cf68c513673
IEDL.DBID RIE
IngestDate Thu Jun 29 18:39:14 EDT 2023
IsPeerReviewed false
IsScholarly false
Language English
LinkModel DirectLink
MergedId FETCHMERGED-LOGICAL-i175t-91d6ed5358aa936c16a05343e4ac2e5870e6c29981b161335b281cf68c513673
PageCount 5
ParticipantIDs ieee_primary_8780007
PublicationCentury 2000
PublicationDate 2018-Sept.
PublicationDateYYYYMMDD 2018-09-01
PublicationDate_xml – month: 09
  year: 2018
  text: 2018-Sept.
PublicationDecade 2010
PublicationTitle 2018 3rd International Conference on Control, Robotics and Cybernetics (CRC)
PublicationTitleAbbrev CRC
PublicationYear 2018
Publisher IEEE
Publisher_xml – name: IEEE
Score 1.6668041
Snippet 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...
SourceID ieee
SourceType Publisher
StartPage 48
SubjectTerms 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
Title Real Implementation of Fault-Tolerant Sliding Mode Control for a Robot Manipulator
URI https://ieeexplore.ieee.org/document/8780007
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV3PS8MwFA5zJ08qm_ibHDzarV2arD0XxxAqUifsNtLkDYazkdFe_Ot9L61TxIO3Uiht8_L6vTTf9z3Gbo3SJiq1DhIjDS5QMBU1JDYIqXuRnqTKAqmR80c1f4kflnLZY3d7LQwAePIZjOjQ7-VbZxr6VTZOpknopeMHOM1arVbnwxiF6TgrMqJqETcypB4eP7qleLCYHbH86zYtR-R11NTlyHz8cmD873Mcs-G3LI8_7QHnhPWgGrCiwFKPe5Pft05HVHG35jPdbOtg4baAaFTz5-2GLuLU-4xnLT-dY8HKNS9c6Wqe62rje3m53ZAtZveLbB50jRKCDaJ_jR8sq8BKIROtU6FMpDTmViwg1mYCElMSlEHcwRIVCzwhZDlJIrNWGB9ybBOnrF-5Cs4YV9LQXpmYWiArNoOLD3z71OCqyIgwtudsQMOxem-tMFbdSFz8ffqSHVJAWkrWFevXuwauEcPr8sYH7xPkyZ6E
linkProvider IEEE
linkToHtml http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwjV1NT4NAEN00etCTmtb47R48SgtddgtnYlO1NAYx6a1ZlmnSWFnTLBd_vbMLVmM8eCMkBNjJ8GbYN-8RcqOEVEEhpRcprrBBwVSUEJWeb92L5DAWJdhp5HQmJi_hw5zPO-R2OwsDAI58Bn176PbyS61q-6tsEI0i342O7yLuh7yZ1mqVGAM_HiRZYslalh3pWxePH34pDi7GByT9ulHDEnnt16boq49fGoz_fZJD0vsezKNPW8g5Ih2ouiTLsNijTub3rZ0kqqhe0rGs18bL9RoQjwx9Xq_sRdS6n9GkYahTLFmppJkutKGprFbOzUtveiQf3-XJxGutErwV4r_BT1YpoOSMR1LGTKhASMyukEEo1RA4JiUIhciDRSqWeIzxYhgFaikwQlazjR2TnUpXcEKo4MrulrFRCVaMTWH7gW8fK-yLFPPD8pR07XIs3hsxjEW7Emd_n74me5M8nS6m97PHc7Jvg9MQtC7IjtnUcImIboorF8hPYxCh0Q
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=2018+3rd+International+Conference+on+Control%2C+Robotics+and+Cybernetics+%28CRC%29&rft.atitle=Real+Implementation+of+Fault-Tolerant+Sliding+Mode+Control+for+a+Robot+Manipulator&rft.au=Le%2C+Quang+Dan&rft.au=Kang%2C+Hee-Jun&rft.date=2018-09-01&rft.pub=IEEE&rft.spage=48&rft.epage=52&rft_id=info:doi/10.1109%2FCRC.2018.00018&rft.externalDocID=8780007