Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(7): 2182-2192

https://doi.org/10.1007/s12555-022-0594-6

© The International Journal of Control, Automation, and Systems

Nonsingular Fixed-time Fault-tolerant Sliding Mode Control of Robot Manipulator With Disturbance Observer

Xiaohan Fang*, Rong Cheng, Songsong Cheng, and Yuan Fan

Anhui University

Abstract

This paper presents a nonsingular sliding mode fault-tolerant control method with fixed-time convergence for a class of robot manipulators with uncertainties, external disturbances, and actuator failures. We estimate selffriction and external disturbances by designing a disturbance observer. Furthermore, based on the disturbance observer, we propose a sliding mode control method for the considered uncertain robot manipulator. Finally, the effectiveness of the proposed method is demonstrated by a numerical example.

Keywords Fault-tolerant, fixed-time, Lyapunov stability, nonsingular, sliding mode control.

Article

Regular Papers

International Journal of Control, Automation, and Systems 2024; 22(7): 2182-2192

Published online July 1, 2024 https://doi.org/10.1007/s12555-022-0594-6

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

Nonsingular Fixed-time Fault-tolerant Sliding Mode Control of Robot Manipulator With Disturbance Observer

Xiaohan Fang*, Rong Cheng, Songsong Cheng, and Yuan Fan

Anhui University

Abstract

This paper presents a nonsingular sliding mode fault-tolerant control method with fixed-time convergence for a class of robot manipulators with uncertainties, external disturbances, and actuator failures. We estimate selffriction and external disturbances by designing a disturbance observer. Furthermore, based on the disturbance observer, we propose a sliding mode control method for the considered uncertain robot manipulator. Finally, the effectiveness of the proposed method is demonstrated by a numerical example.

Keywords: Fault-tolerant, fixed-time, Lyapunov stability, nonsingular, sliding mode control.

IJCAS
July 2024

Vol. 22, No. 7, pp. 2055~2340

Stats or Metrics

Share this article on

  • line

Related articles in IJCAS

IJCAS

eISSN 2005-4092
pISSN 1598-6446