Implementation of Fault-Tolerant Control for a Robot Manipulator Based on Synchronous Sliding Mode Control: An Advanced Study

In this paper, a synchronous sliding mode-based active fault-tolerant control for a robot manipulator is developed. The joint errors tend to equalise and approach zero as the synchronisation errors approach zero. As a result, for a fault-tolerant controller, the synchronisation mechanism is intrinsically effective. The following implementation is provided to demonstrate such a system. To begin, an estimator with an extended state observer was created to estimate uncertainties/disturbances as well as faults/failures. In the controller, the estimator signal was employed for an online compensator. A fault-tolerant controller was suggested that used a synchronous sliding mode method and an estimator. Lyapunov theory was used to determine the system’s stability. Finally, fault tolerant control was compared to conventional sliding mode control in a three-degree-of-freedom robot manipulator. The effectiveness of the proposed active fault-tolerant control with synchronous sliding model technique is demonstrated in this comparison.

Author (S) Details

Quang Dan Le
Department of Electrical, Electronic and Computer Engineering, University of Ulsan, Ulsan 44610, South Korea.

Hee-Jun Kang
School of Electrical Engineering, University of Ulsan, Ulsan 44610, Korea.

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