INTSMC-Based Fault Tolerant Control Approach for a 2-DOF Robotic System
| Autor: | Heikki Handroos, Yashar Shabbouei Hagh, Reza Mohammadi Asl, Afef Fekih |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Lyapunov stability
Scheme (programming language) 0209 industrial biotechnology Computer science 020208 electrical & electronic engineering Control (management) Robot manipulator Stability (learning theory) Terminal sliding mode Fault tolerance 02 engineering and technology Computer Science::Robotics 020901 industrial engineering & automation Control theory 0202 electrical engineering electronic engineering information engineering Actuator computer computer.programming_language |
| Zdroj: | 2020 15th IEEE Conference on Industrial Electronics and Applications (ICIEA). |
| DOI: | 10.1109/iciea48937.2020.9248134 |
| Popis: | This paper proposes a Fault Tolerant Control (FTC) scheme for a 2-DoF robotic system. The design is based on a new integral non-singular terminal sliding mode control (INTSMC) framework and aims at mitigating actuator faults whilst guaranteeing finite time convergence of the states. The design includes a comprehensive actuator fault model that encompasses different scenarios of bias and loss of effectiveness faults. The stability of the proposed FTC module is verified based on the Lyapunov stability criteria. The overall scheme was implemented to a second-order robotic system subject to different faulty scenarios. The INTSMC-based FTC approach was shown to guarantee system stability and ensure good tracking performance under various faulty conditions. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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