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An Adaptive Fault-tolerant Control Method for Robot Manipulators

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  • Robot and Applications
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Abstract

This paper presents a new method for adaptive continuous nonsingular fast terminal sliding mode control (ACNFTSMC) based on a novel structure-improved extended state observer (SIESO) for fault-tolerant control (FTC). In response to the initial peaking phenomenon in traditional ESO (TESO), which can severely degrade the accuracy and stability of the control system, The SIESO is designed to replace TESO to estimate the lump disturbances/faults. Besides, to address the problem of the unknown estimation error of ESO, an adaptive technique is applied to compensate for the observation error in real-time. To guarantee fast convergence and chattering-free, the CNFTSMC method is employed. Afterward, the stability and rapid convergence of the control system is demonstrated using Lyapunov theory. Finally, the simulation results verify the superiority of the proposed control strategy compared to the other existing advanced control techniques.

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Author information

Authors and Affiliations

  1. College of Information Engineering, Nanchang University, Nanchang, 330031, Jiangxi, China

    Wenjie Zhang, Xiaohui Yang, Zhenghong Xu, Wei Zhang & Li Yang

  2. Department of Systems and Computer Engineering, Carleton University, Ottawa, K1S 5B6, ON, Canada

    Xiaoping Liu

Authors
  1. Wenjie Zhang
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  2. Xiaohui Yang
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  3. Zhenghong Xu
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  4. Wei Zhang
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  5. Li Yang
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  6. Xiaoping Liu
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Corresponding author

Correspondence to Xiaohui Yang.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

This work was funded by the Special Fund for Graduate Innovation of Nanchang University (YC2020-S097) and supported by the National Natural Science Foundation of China (51765042, 61963026).

Wenjie Zhang received his B.E. degree in electrical engineering and its automation from Heilongjiang University of Science and Technology, Heilongjiang, China, in 2019, Now, he is pursuing an M.E. degree in electric engineering in Nanchang University. His current research interests include trajectory tracking and fault-tolerant control of mechanical systems, robotics and nonlinear systems.

Xiaohui Yang received his B.Sc. M.Sc., and Ph.D. degrees from Nanchang University, Nanchang, China, in 2003, 2006, and 2015, respectively (email: yangxiaohui@ncu.edu.cn). He has been with the Department of Electronic Information Engineering, School of Information Engineering, Nanchang University, since 2006, where he is currently an Associate Professor. He has published over 30 research articles. His current interests include intelligent control, process control, fault diagnosis and stochastic nonlinear systems etc.

Zhenghong Xu received his B.E. degree in mineral process engineering from North China Institute of Science and Technology, Langfang, China, in 2018. Now, he is pursuing an M.E. degree in electric engineering in Nanchang University. His current research interests include sliding mode control and observers, adaptive nonlinear control of robotic manipulators.

Wei Zhang received his B.E. degree in electrical engineering and its automation from Nanchang University, Nanchang, China, in 2018. Now, he is pursuing an M.E. degree in electric engineering in Nanchang University. His current research interests include sliding mode control, adaptive non-linear control of robotic manipulator, and the control of phase selection of the closing circuit-breaker.

Li Yang was born in 1975 and received her master’s degree in engineering. She is employed in the Department of Energy and Electrical Engineering, School of Information Engineering, Nanchang University. Currently, her main research interests include electrical appliances and motor control.

Xiaoping Liu is with the Department of Systems and Computer Engineering, Carleton University, Ottawa, Canada. He received his B.Sc. and M.Sc. degrees from Northern Jiaotong University, China, in 1992 and 1995, respectively, and a Ph.D. degree from the University of Alberta, Canada in 2002. He has been with the Department of Systems and Computer Engineering, Carleton University, Canada since July 2002 and he is currently a Professor and Canada Research Chair. He is also with the School of Information Engineering, Nanchang University as an Adjunct Professor. His interest includes interactive networked systems and teleoperation, haptics, micro-manipulation, robotics, intelligent systems, context-aware intelligent networks, and their applications to biomedical engineering. Dr. Liu has published more than 280 research articles. He serves as an Associate Editor for several journals including IEEE Transactions on Cybernetics, IEEE/ASME Transactions on Mechatronics, IEEE Transactions on Automation Science and Engineering, and IEEE Access. He received a 2007 Carleton Research Achievement Award, a 2006 Province of Ontario Early Researcher Award, a 2006 Carty Research Fellowship, the Best Conference Paper Award of the 2006 IEEE International Conference on Mechatronics and Automation, and a 2003 Province of Ontario Distinguished Researcher Award. Dr. Liu is a licensed member of the Professional Engineers of Ontario (P.Eng), a senior member of IEEE and Fellow of Engineering Institute of Canada (FEIC).

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Zhang, W., Yang, X., Xu, Z. et al. An Adaptive Fault-tolerant Control Method for Robot Manipulators. Int. J. Control Autom. Syst. 19, 3983–3995 (2021). https://doi.org/10.1007/s12555-020-0920-9

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