Abstract
In this paper, an active fault-tolerant sliding mode control of robot manipulator is proposed and real implemented for a 3-DOF robot manipulator. When the unknown actuator faults occur sometime during the robot operation, an external linear state observer is adopted to estimate uncertainties/disturbances and faults. By using this observer, we no need the exact knowledge of the upper bound of faults. Then, the active fault-tolerant sliding mode control with online compensation based on the estimation is proposed. The stability of system was proved by using Lyapunov theory. Finally, the simulation and experimental results for a robot manipulator are shown to illustrate the effectiveness of the proposed control.
| Original language | English |
|---|---|
| Title of host publication | 2018 3rd International Conference on Control, Robotics and Cybernetics (CRC) |
| Place of Publication | Piscataway, NJ |
| Publisher | IEEE |
| Pages | 48-52 |
| Number of pages | 5 |
| ISBN (Electronic) | 9781538677384 |
| ISBN (Print) | 9781538677391 |
| DOIs | |
| Publication status | Published - 1 Aug 2019 |
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- 2016-RlDlA3B03930496).
Keywords
- fault-tolerant control
- fault-tolerant sliding mode control
- external linear observer
- robot manipulator control