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A Fault-tolerant Synchronous Sliding Mode Control for a 4-DOF Parallel Manipulator With Uncertainties and Actuator Faults

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Abstract

This paper proposes a novel fault-tolerant synchronous sliding mode control for a 4-DOF parallel manipulator against uncertainties such as modelling error and actuator faults. The proposed control is developed with the consensus approach, sliding mode control, and extended state observer to manage the tracking objective and guarantee the synchronous requirements. The consensus approach combines the tracking and synchronous errors, which helps to integrate both the tracking and synchronous requirements into cross-coupling errors. Firstly, the kinematics and dynamics of the parallel manipulator are described according to the geometric and Euler Lagrange approaches with the challenges. Secondly, the Lyapunov approach is implemented to verify the stability and robustness of the proposed control in theory. Then, some simulations are conducted in MATLAB Simulink with the robotic dynamics generated by converting the design model in SOLIDWORKs into SIMSCAPE. The comparisons between the proposed control and other controllers are made by creating simulations to evaluate the advantages of the proposed approach.

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Authors and Affiliations

  1. Department of Automatic Control, Ho Chi Minh City University of Technology and Education, Ho Chi Minh, 700000, Vietnam

    Duc Thien Tran, Nguyen Thanh Nha & Ngo Van Thuyen

  2. Department of Fundamentals of Electrical Engineering, Ho Chi Minh City University of Technology and Education, Ho Chi Minh, 700000, Vietnam

    Le Hoang Lam

  3. School of Mechanical Engineering, University of Ulsan, Ulsan, 44610, Korea

    Kyoung Kwan Ahn

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  1. Duc Thien Tran
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Correspondence to Kyoung Kwan Ahn.

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This work belongs to the project grant No: B2022-SPK-03, funded by Ministry of Education and Training, and hosted by Ho Chi Minh City University of Technology and Education, Vietnam and supported by “Regional Innovation Strategy (RIS)” through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (MOE) (2021RIS-003).

Duc Thien Tran received his B.S. and M.S. degrees from the Department of Electrical Engineering, Ho Chi Minh City University of Technology, Vietnam, in 2010 and 2013, and a Ph.D. degree from University of Ulsan in 2020, respectively. He works as a lecturer with the Department of Automatic Control, Ho Chi Minh City University of Technology and Education (HCMUTE), Vietnam. His research interests include robotics, variable stiffness system, fluid power control, disturbance observer, nonlinear control, adaptive control, and intelligent technique.

Nguyen Thanh Nha received the diploma of engineer majoring in control engineering and automation from the Faculty For High-Quality Training, Ho Chi Minh City University of Technology and Education, Vietnam, in 2023. He works as a Robotics and Intelligent Control Lab member in the Department of Automatic Control, Ho Chi Minh University of Technology and Education, Vietnam. His research interests include robotics, parallel robot, nonlinear control, and intelligent control.

Ngo Van Thuyen received his B.E. degree in electrical engineering from Ho Chi Minh City University of Technology and Education, Vietnam in 1999, an M.E. degree in electrical engineering from Ho Chi Minh City University of Technology, Vietnam in 2003, and a Ph.D. degree in engineering from University of Technology Sydney, Australia in 2008, repspetively. He is currently an associate professor at the Department of Automatic Control, Ho Chi Minh City University of Technology and Education (HCMUTE), Vietnam. His research interests include mobile robotics, nonlinear control, adaptive control, and intelligent technique.

Le Hoang Lam received his B.S. and M.S. degrees in power engineering from Ho Chi Minh City University of Technology, Vietnam, in 2006 and 2008, respectively. He is currently a lecturer at the Faculty of Electrical and Electronic Engineering, Ho Chi Minh City University of Technology and Education. His research interest includes the precise position synchronous control for multi-axis servo systems.

Kyoung Kwan Ahn received his B.S. degree from the Department of Mechanical Engineering from Seoul National University in 1990, an M.Sc. degree in mechanical engineering from Korea Advanced Institute of Science and Technology (KAIST) in 1992, and a Ph.D. degree from Tokyo Institute of Technology in 1999, respectively. Since 2000, he has been with the School of Mechanical Engineering, University of Ulsan, where he is currently a Professor and the Director of the Fluid Power Control and Machine Intelligence Laboratory. His main research interests include fluid based triboelectric nano generator, modeling and control of fluid power system, energy saving construction machine, hydraulic robot, and power transmission in the ocean energy. He is the author or coauthor of over 190 SCI(E) papers and 4 books in these areas. He serves as an editor of International Journal of Control, Automation and Systems and editorial board of Renewable Energy, Journal of The Korean Society for Fluid Power and Construction Equipments, Actuators and so on.

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Tran, D.T., Nha, N.T., Van Thuyen, N. et al. A Fault-tolerant Synchronous Sliding Mode Control for a 4-DOF Parallel Manipulator With Uncertainties and Actuator Faults. Int. J. Control Autom. Syst. 22, 1313–1323 (2024). https://doi.org/10.1007/s12555-023-0153-9

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