Real implementation of an active fault tolerant control based on super twisting technique for a robot manipulator

Quang Dan Le; Hee-Jun Kang

doi:10.1007/978-3-030-26766-7_27

Real implementation of an active fault tolerant control based on super twisting technique for a robot manipulator

Quang Dan Le, Hee-Jun Kang

Design, Manufacturing And Engineering Management

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution book

4 Citations (Scopus)

Abstract

In this paper, real implementation of an active fault-tolerant control for a robot manipulator based on the combination of an external linear observer and the super-twisting algorithm is proposed. This active fault-tolerant scheme uses an external linear observer to identify faults. Then, the fault information is used to compensate the uncertainties/disturbance and faults with the super twisting controller. Finally, the effectiveness of proposed control is verified by simulation and implementation for a 3-DOF robot manipulator. The results were illustrated that the proposed control can tolerate the relatively bigger faults due to the design of the observer and then show the better performances than the conventional super-twisting controller does.

Original language	English
Title of host publication	Intelligent Computing Methodologies
Subtitle of host publication	15th International Conference, ICIC 2019 Nanchang, China, August 3–6, 2019 Proceedings, Part III
Editors	De-Shuang Huang, Zhi-Kai Huang, Abir Hussain
Place of Publication	Cham
Publisher	Springer
Pages	294–305
Number of pages	12
ISBN (Electronic)	9783030267667
ISBN (Print)	9783030267650
DOIs	https://doi.org/10.1007/978-3-030-26766-7_27
Publication status	Published - 24 Jul 2019

Publication series

Name	Lecture Notes in Artificial Intelligence
Publisher	Springer
Volume	11645
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Funding

This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (NRF-2016R1D1A3B03930496).

Keywords

fault tolerant control
external linear observer
super twisting sliding mode control

Access to Document

10.1007/978-3-030-26766-7_27

Cite this

Le, Q. D., & Kang, H.-J. (2019). Real implementation of an active fault tolerant control based on super twisting technique for a robot manipulator. In D.-S. Huang, Z.-K. Huang, & A. Hussain (Eds.), Intelligent Computing Methodologies: 15th International Conference, ICIC 2019 Nanchang, China, August 3–6, 2019 Proceedings, Part III (pp. 294–305). (Lecture Notes in Artificial Intelligence; Vol. 11645). Springer. https://doi.org/10.1007/978-3-030-26766-7_27

Le, Quang Dan ; Kang, Hee-Jun. / Real implementation of an active fault tolerant control based on super twisting technique for a robot manipulator. Intelligent Computing Methodologies: 15th International Conference, ICIC 2019 Nanchang, China, August 3–6, 2019 Proceedings, Part III. editor / De-Shuang Huang ; Zhi-Kai Huang ; Abir Hussain. Cham : Springer, 2019. pp. 294–305 (Lecture Notes in Artificial Intelligence).

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title = "Real implementation of an active fault tolerant control based on super twisting technique for a robot manipulator",

abstract = "In this paper, real implementation of an active fault-tolerant control for a robot manipulator based on the combination of an external linear observer and the super-twisting algorithm is proposed. This active fault-tolerant scheme uses an external linear observer to identify faults. Then, the fault information is used to compensate the uncertainties/disturbance and faults with the super twisting controller. Finally, the effectiveness of proposed control is verified by simulation and implementation for a 3-DOF robot manipulator. The results were illustrated that the proposed control can tolerate the relatively bigger faults due to the design of the observer and then show the better performances than the conventional super-twisting controller does.",

keywords = "fault tolerant control, external linear observer, super twisting sliding mode control",

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Le, QD & Kang, H-J 2019, Real implementation of an active fault tolerant control based on super twisting technique for a robot manipulator. in D-S Huang, Z-K Huang & A Hussain (eds), Intelligent Computing Methodologies: 15th International Conference, ICIC 2019 Nanchang, China, August 3–6, 2019 Proceedings, Part III. Lecture Notes in Artificial Intelligence, vol. 11645, Springer, Cham, pp. 294–305. https://doi.org/10.1007/978-3-030-26766-7_27

Real implementation of an active fault tolerant control based on super twisting technique for a robot manipulator. / Le, Quang Dan; Kang, Hee-Jun.
Intelligent Computing Methodologies: 15th International Conference, ICIC 2019 Nanchang, China, August 3–6, 2019 Proceedings, Part III. ed. / De-Shuang Huang; Zhi-Kai Huang; Abir Hussain. Cham: Springer, 2019. p. 294–305 (Lecture Notes in Artificial Intelligence; Vol. 11645).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution book

TY - GEN

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AU - Le, Quang Dan

AU - Kang, Hee-Jun

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N2 - In this paper, real implementation of an active fault-tolerant control for a robot manipulator based on the combination of an external linear observer and the super-twisting algorithm is proposed. This active fault-tolerant scheme uses an external linear observer to identify faults. Then, the fault information is used to compensate the uncertainties/disturbance and faults with the super twisting controller. Finally, the effectiveness of proposed control is verified by simulation and implementation for a 3-DOF robot manipulator. The results were illustrated that the proposed control can tolerate the relatively bigger faults due to the design of the observer and then show the better performances than the conventional super-twisting controller does.

AB - In this paper, real implementation of an active fault-tolerant control for a robot manipulator based on the combination of an external linear observer and the super-twisting algorithm is proposed. This active fault-tolerant scheme uses an external linear observer to identify faults. Then, the fault information is used to compensate the uncertainties/disturbance and faults with the super twisting controller. Finally, the effectiveness of proposed control is verified by simulation and implementation for a 3-DOF robot manipulator. The results were illustrated that the proposed control can tolerate the relatively bigger faults due to the design of the observer and then show the better performances than the conventional super-twisting controller does.

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KW - super twisting sliding mode control

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Le QD, Kang HJ. Real implementation of an active fault tolerant control based on super twisting technique for a robot manipulator. In Huang DS, Huang ZK, Hussain A, editors, Intelligent Computing Methodologies: 15th International Conference, ICIC 2019 Nanchang, China, August 3–6, 2019 Proceedings, Part III. Cham: Springer. 2019. p. 294–305. (Lecture Notes in Artificial Intelligence). doi: 10.1007/978-3-030-26766-7_27

Real implementation of an active fault tolerant control based on super twisting technique for a robot manipulator

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