A Novel Nonlinear Fault Tolerant Control for Manipulator under Actuator Fault

Jing Zhao,Sen Jiang,Zhen He,Fei Xie,Jian Fu

doi:10.1155/2018/5198615

Abstract

A fault tolerant control (FTC) scheme based on adaptive sliding mode control technique is proposed for manipulator with actuator fault. Firstly, the dynamic model of manipulator is introduced and its actuator faulty model is established. Secondly, a fault tolerant controller is designed, in which both the parameters of actuator fault and external disturbance are estimated and updated by online adaptive technology. Finally, taking a two-joint manipulator as example, simulation results show that the proposed fault tolerant control scheme is effective in tolerating actuator fault; meanwhile it has strong robustness for external disturbance.

Highlights

A Novel Nonlinear Fault Tolerant Control for Manipulator under Actuator FaultJiangsu Engineering Laboratory for Internet of ings and Intelligent Robots, Nanjing University of Posts and Telecommunications, Nanjing
With the rapid development of modern science technology, manipulator has emerged as an important area of research, and more manipulators are applied in our life to reduce the burden of work
A fault tolerant control (FTC) scheme based on adaptive sliding mode control technique is proposed for manipulator with actuator fault

Summary

A Novel Nonlinear Fault Tolerant Control for Manipulator under Actuator Fault

Jiangsu Engineering Laboratory for Internet of ings and Intelligent Robots, Nanjing University of Posts and Telecommunications, Nanjing. Jiangsu Key Laboratory of D Printing Equipment and Manufacturing, Nanjing Normal University, Nanjing. Nanjing Institute of Intelligent High-end Equipment Industry Limited Company, Nanjing. College of Energy and Power Engineering, Nanjing University of Science and Technology, Nanjing. A fault tolerant control (FTC) scheme based on adaptive sliding mode control technique is proposed for manipulator with actuator fault. A fault tolerant controller is designed, in which both the parameters of actuator fault and external disturbance are estimated and updated by online adaptive technology. Taking a two-joint manipulator as example, simulation results show that the proposed fault tolerant control scheme is effective in tolerating actuator fault; it has strong robustness for external disturbance

Introduction

Mathematic Model

Fault Tolerant Controller Design

Simulation

Conclusions