A Finite-Time Fault-Tolerant Control Using Non-Singular Fast Terminal Sliding Mode Control and Third-Order Sliding Mode Observer for Robotic Manipulators

A Finite-Time Fault-Tolerant Control Using Non-Singular Fast Terminal Sliding Mode Control and Third-Order Sliding Mode Observer for Robotic Manipulators

Blog Article

In this paper, a fault-tolerant control (FTC) method for robotic manipulators is proposed to deal with the lumped uncertainties and faults in case of lacking tachometer sensors in the system.First, the third-order sliding mode (TOSM) observer is performed to approximate system velocities and the lumped uncertainties and faults.This observer provides estimation information with high precision, low chattering phenomenon, and Siege finite-time convergence.Then, an FTC method is proposed based on a non-singular fast terminal switching function and the TOSM observer.This combination provides robust features in dealing with the lumped uncertainties and faults, increases the PERMED/COLOUR TREATED CONDITIONER control performance, reduces chattering phenomenon, and guarantees fast finite-time convergence.

Especially, this paper considers both two periods of time, in which before and after the convergence process takes place.The stability and the finite-time convergence of the proposed controller-observer technique is demonstrated using the Lyapunov theory.Finally, to verify the effectiveness of the proposed controller-observer technique, computer simulation on a serial two-link robotic manipulator is performed.