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Adaptive Sliding Mode Control for a 2-DOF Robot Arm in Case of Actuator Faults

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Advances in Engineering Research and Application (ICERA 2020)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 178))

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Abstract

The paper presents an adaptive sliding mode controller for a 2-DOF robot arm suffering actuator faults. The type of actuator faults considered in this study is the proportional degradation of torque. The robot model is set up with unknown factors representing the degree of the actuator torque fault. Based on this model, an adaptive sliding mode methodology is designed to tolerate the faults. The system stability is guaranteed according to the Lyapunov approach. The adjustable controller coefficients can be adapted to greater values of unknown bounds, which satisfies the Lyapunov criterion. A performance comparison between the proposed control fashion and a popular robot controller is carried out via the MATLAB/Simulink simulation environment. The results show that the proposed controller can satisfactorily steer the joint responses following the desired trajectories in the faulty state with reasonable degrees of torque loss.

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Author information

Authors and Affiliations

  1. Hung Yen University of Technology and Education, Hung Yen, 17817, Vietnam

    Le Ngoc Truc

  2. Hanoi University of Science and Technology, Hanoi, 11615, Vietnam

    Nguyen Phung Quang

Authors
  1. Le Ngoc Truc
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  2. Nguyen Phung Quang
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Corresponding author

Correspondence to Le Ngoc Truc .

Editor information

Editors and Affiliations

  1. Department of Computer Science and Automation, Ilmenau University of Technology (IUT), Ilmenau, Germany

    Kai-Uwe Sattler

  2. Faculty of Electronic Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Duy Cuong Nguyen

  3. Faculty of Mechanical Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Ngoc Pi Vu

  4. Hanoi University of Science and Technology, Hanoi, Vietnam

    Banh Tien Long

  5. Institute for Automation and Systems Engineering, Ilmenau University of Technology (IUT), Ilmenau, Germany

    Horst Puta

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Truc, L.N., Quang, N.P. (2021). Adaptive Sliding Mode Control for a 2-DOF Robot Arm in Case of Actuator Faults. In: Sattler, KU., Nguyen, D.C., Vu, N.P., Long, B.T., Puta, H. (eds) Advances in Engineering Research and Application. ICERA 2020. Lecture Notes in Networks and Systems, vol 178. Springer, Cham. https://doi.org/10.1007/978-3-030-64719-3_17

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  • DOI: https://doi.org/10.1007/978-3-030-64719-3_17

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-64718-6

  • Online ISBN: 978-3-030-64719-3

  • eBook Packages: EngineeringEngineering (R0)

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