Study on Finite-time Fault-tolerant Control for a Robot Manipulator Based on Synchronous Terminal Sliding Mode Control

Two finite-time active fault-tolerant controllers for a robot manipulator are proposed in this study, which include synchronous terminal sliding mode control and an extended state observer. To estimate aggregated uncertainties, disturbances, and faults, an extended state observer is used first. The estimation data is utilised to compensate the controller that will be created in the next stage. Based on a novel finite-time synchronisation error and coupling position error, we provide an active fault-tolerant control with finite-time synchronous terminal sliding mode control. We also show an active fault-tolerant control system that doesn’t rely on coupling position error. The position error at each joint can simultaneously approach zero and equality when applying synchronisation control, which may lessen the picking phenomena associated with the active fault-tolerant controller scheme. Finally, simulation and experimental results for a three-degree-of-freedom robot manipulator show that the two proposed active fault-tolerant controllers are effective.

Author (S) Details

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

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

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