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Adaptive Fault-tolerant Control for Mechanical Manipulator Systems with Actuator Fault

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Abstract

In this paper, the tracking control problem of a class of mechanical manipulator system with actuator fault and mismatched disturbance is investigated. An observer-based adaptive fast finite-time sliding mode fault-tolerant control (OB-AFTSMFTC) scheme is proposed. Firstly, a novel composite observer is designed to estimate the state, fault efficiency factor, and disturbance simultaneously without the disturbance bound information. It is theoretically proved that the entire observer system is globally stable. To address the tracking performance, the Euler’s discretization technique is applied to approximate the discrete-time tracking error model. Subsequently, an OB-AFTSMFTC strategy is proposed based on the tracking error. In the proposed control scheme, two adaptive parameters are designed to realize the autonomous adjustment of controller parameters, thus the work of parameter adjustment can be reduced and a faster convergence can be achieved. Furthermore, the estimated disturbance information is utilized to construct the sliding mode controller in order to improve the robustness of the tracking performance. Finally, two simulation cases are carried out to verify the fault tolerance ability of the proposed method.

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Authors and Affiliations

  1. School of Automation Engineering and Institute of Electric Vehicle Driving System and Safety Technology, University of Electronic Science and Technology of China, Chengdu, Sichuan, 611731, China

    Yong Chen, Bin Guo & Yuezhi Liu

  2. Jiangnan Industries Group Co., Ltd, Norinco Group, Xiangtan, 41120, China

    Ke Zhang

  3. Yangtze Delta Region Institute (Huzhou), University of Electronic Science and Technology of China, Huzhou, 313001, China

    Yong Chen

Authors
  1. Yong Chen
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  2. Bin Guo
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  3. Yuezhi Liu
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  4. Ke Zhang
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Correspondence to Yong Chen.

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This work was supported in part by the National Natural Science Foundation of China under grant 61973331 and 61903064, and the National Key Research and Development Plan Programs of China 2018YFB0106101.

Yong Chen received his B.S. degree in industrial automation from Taiyuan University of Science and Technology, Taiyuan, Shanxi, in 2001, an M.S. degree in control theory and control engineering from Guangxi University, Nanning, Guangxi, in 2004 and a Ph.D. degree in control theory and control engineering from Chongqing University, Chongqing, in 2007. Since 2007, he joined University of Electronic Science and Technology of China (UESTC). Since 2015, he has been a Professor and a Ph.D. Supervisor in the School of Automation Engineering and the Director of the Institute of Electric Vehicle Driving System and Safety Technology, UESTC. He was a Visiting Scholar in University of Adelaide from 2013 to 2014. He is currently presiding some projects including National Natural Science Foundation of China project, National Key Research and Development Plan Programs of China and the Scientific and Technical Supporting Programs of Sichuan Province. He has published more than 80 technical papers in journals and 40 Chinese patents. His current research interests include fault-tolerant control, network control, and intelligent connected system.

Bin Guo received his B.S. degree in machine design manufacture and automation and an M.S. degree in mechatronic from Sichuan University of Science and Engineering, Zigong, China, in 2013 and 2016, respectively. He is currently working toward a Ph.D. degree in control science and engineering with the School of Automation, University of Electronic Science and Technology of China, Chengdu, China. From September 2018 to September 2019, he was a Visiting Student with the University of Duisburg-Essen. His research interests include robust control, fault tolerant control, and adaptive control.

Yuezhi Liu received his B.S. degree in mathematics and applied mathematics from Daqing Normal University in 2014, and an M.S. degree in applied math from Xihua University in 2017. He is currently pursuing a Ph.D. degree in control science and engineering from the School of Automation Engineering, University of Electronic Science and Technology of China. His current research interests include cyber-physical system, adaptive control, event-triggered control, and nonlinear system.

Ke Zhang received his B.S. degree in chemistry and chemical engineering from Nanjing University of Science and Technology. He is with deputy factory director and senior engineer in Jiangnan Industries Group Co., Ltd, Norinco Group. His current research interests include security management and flexible production.

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Chen, Y., Guo, B., Liu, Y. et al. Adaptive Fault-tolerant Control for Mechanical Manipulator Systems with Actuator Fault. Int. J. Control Autom. Syst. 20, 2326–2339 (2022). https://doi.org/10.1007/s12555-021-0128-7

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  • DOI: https://doi.org/10.1007/s12555-021-0128-7

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