Abstract
A fault tolerant control(FTC) scheme based on adaptive sliding mode control technique with guaranteed stability are obtained for space manipulator under actuator fault. Firstly, the dynamic model of space manipulator is addressed and its actuator faulty model is modeled in free-swinging fault case. Secondly, adaptive sliding mode fault tolerant control for actuator fault and external disturbance is proposed, in which a novel kind of multiple sliding mode surface is design to reduce the chattering and convergence time of conventional sliding mode. Finally, the effectiveness of the proposed fault tolerant controller is successfully demonstrated by simulations for a dual-joint manipulator.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.