Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(4): 1313-1323

https://doi.org/10.1007/s12555-023-0153-9

© The International Journal of Control, Automation, and Systems

A Fault-tolerant Synchronous Sliding Mode Control for a 4-DOF Parallel
Manipulator With Uncertainties and Actuator Faults

Duc Thien Tran, Nguyen Thanh Nha, Ngo Van Thuyen, Le Hoang Lam, and Kyoung Kwan Ahn*

University of Ulsan

Abstract

This paper proposes a novel fault-tolerant synchronous sliding mode control for a 4-DOF parallel manipulator against uncertainties such as modelling error and actuator faults. The proposed control is developed with the consensus approach, sliding mode control, and extended state observer to manage the tracking objective and guarantee the synchronous requirements. The consensus approach combines the tracking and synchronous errors, which helps to integrate both the tracking and synchronous requirements into cross-coupling errors. Firstly, the kinematics and dynamics of the parallel manipulator are described according to the geometric and Euler Lagrange approaches with the challenges. Secondly, the Lyapunov approach is implemented to verify the stability and robustness of the proposed control in theory. Then, some simulations are conducted in MATLAB Simulink with the robotic dynamics generated by converting the design model in SOLIDWORKs into SIMSCAPE. The comparisons between the proposed control and other controllers are made by creating simulations to evaluate the advantages of the proposed approach.

Keywords Cross-coupling error, extended state observer (ESO), 4-DOF parallel manipulator, Lyapunov, MATLAB SIMSCAPE, sliding mode control (SMC).

Article

Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(4): 1313-1323

Published online April 1, 2024 https://doi.org/10.1007/s12555-023-0153-9

Copyright © The International Journal of Control, Automation, and Systems.

A Fault-tolerant Synchronous Sliding Mode Control for a 4-DOF Parallel
Manipulator With Uncertainties and Actuator Faults

Duc Thien Tran, Nguyen Thanh Nha, Ngo Van Thuyen, Le Hoang Lam, and Kyoung Kwan Ahn*

University of Ulsan

Abstract

This paper proposes a novel fault-tolerant synchronous sliding mode control for a 4-DOF parallel manipulator against uncertainties such as modelling error and actuator faults. The proposed control is developed with the consensus approach, sliding mode control, and extended state observer to manage the tracking objective and guarantee the synchronous requirements. The consensus approach combines the tracking and synchronous errors, which helps to integrate both the tracking and synchronous requirements into cross-coupling errors. Firstly, the kinematics and dynamics of the parallel manipulator are described according to the geometric and Euler Lagrange approaches with the challenges. Secondly, the Lyapunov approach is implemented to verify the stability and robustness of the proposed control in theory. Then, some simulations are conducted in MATLAB Simulink with the robotic dynamics generated by converting the design model in SOLIDWORKs into SIMSCAPE. The comparisons between the proposed control and other controllers are made by creating simulations to evaluate the advantages of the proposed approach.

Keywords: Cross-coupling error, extended state observer (ESO), 4-DOF parallel manipulator, Lyapunov, MATLAB SIMSCAPE, sliding mode control (SMC).

IJCAS
April 2024

Vol. 22, No. 4, pp. 1105~1460

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