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
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.
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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.
Vol. 22, No. 9, pp. 2673~2953
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