Abstract
In this paper, the fault-tolerant tracking control problem for a class of single-link flexible joint manipulator (SFJM) system with uncertainty, fault, nonlinear function, and unmatched disturbance is investigated. An observer-based sliding mode control approach is designed. Concretely, first of all, the SFJM dynamic system with uncertainty, fault, and unmatched disturbance is established. Then, by transforming the system into two subsystems, a novel composite observer is proposed to estimate the fault and disturbance, respectively. Furthermore, a robust sliding mode controller, which contains a third-order sliding mode surface, a continuous control strategy, and a visual estimated fault signal, is constructed. In the control scheme, an adaptive law is also concluded to compensate for the estimation error. Finally, the proposed method is applied to the SFJM system and the simulation results illustrate the effectiveness of the proposed method.
Highlights
The flexible joint manipulator has become an indispensable part in the increasing automation system especially in the dynamic assembly line, to avoid danger working condition and reduce labor cost [1]
Motived by [10], [13], [16], this paper addresses the problem of robust fault-tolerant tracking control for single-link flexible joint manipulator (SFJM) system
Note that the SFJM system is inevitable to suffer from external noise and load torque fluctuation, which means that the external disturbance d (t) exists in the system
Summary
The flexible joint manipulator has become an indispensable part in the increasing automation system especially in the dynamic assembly line, to avoid danger working condition and reduce labor cost [1]. Guo: Sliding Mode Fault Tolerant Tracking Control for a SFJM System cost and the flexible joint structure, in some conditions, it is impossible to install sensor because of the volume limitation. In [13], the fault tolerant control problem was investigated for a class of Lipschitz nonlinear systems, a descriptor sliding mode observer was presented and the controller was constructed to achieve a satisfactory fault reconstruction performance. In [15], an extended Kalman filter (EKF) observer was presented to estimate the manipulator states, by using these estimated values; an adaptive rigid-link flexible joint controller was proposed to guarantee the tracking performance. In [18], the tracking control problem of a class of flexible joint robot was addressed, the feedback linearization methodology was used to model the system and a sliding mode control method was constructed to guarantee the tracking performance. Jl where Jm is the inertia of the DC motor, Jl is the inertia of the link. θm and θl denote the rotation angles of the motor and link, respectively. wm and wl represent the angular velocities of the motor and link, respectively. k is the torsional spring constant, kτ is the amplifier gain, G is the viscous friction, m is the pointer mass, g is the gravity constant, q is the distance from the rotor to the center of the gravity of the link, u is the control input delivered by the motor
Sign-in/Register to view highlights & summary Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: 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.
