Fault-Tolerant Control of Multi-Joint Robot Based on Fractional-Order Sliding Mode
Source abstract
Abstract
In this paper, the problem of fault-tolerant control of actuators for multi-joint robots is studied. Aiming at the jitter problem in the design of fault-tolerant control law for conventional sliding mode controllers (SMC), a controller design method based on fractional-order sliding mode (FSMC) theory is proposed. At first, the mathematical model of the multi-joint robot is established and the fractional-order sliding mode surface is constructed according to the mathematical model. Then, the robust control law is designed based on the Lyapunov function. Finally, the experiments are carried out. Compared with the conventional sliding mode control, the experimental results show that the multi-joint robot is more stable under the control of fractional-order sliding mode, and it can achieve almost no jitter while tracking the reference. The steady-state error for joint1 and joint2 could reach 0.073 radians under the control of SMC, while it is 0.015 radians under the control of FSMC. The steady-state error data indicate that the fluctuation amplitude under FSMC is five times smaller than SMC for the end part of the multi-joint robot under actuator gain faults. The regulation time for joint1 and joint2 is about 0.11 s under the control of SMC, and it is around 0.04 s for FSMC. The regulation time is reduced to one of three or four. These data show the effectiveness of the FSMC proposed in this paper.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Soft Robotics and Applications · Adaptive Control of Nonlinear Systems · Control and Dynamics of Mobile Robots
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China
School of Mechatronic Engineering and Automation, Foshan University, Foshan 528231, China
Funding
National Key R&D Program of China
References (42)
Show source-provided references
1. Multi-Axis Force-Torque Sensors for Measuring Zero-Moment Point in Humanoid Robots: A Review10.1109/JSEN.2019.2947719 ↗
2. Continuum Robots for Medical Applications: A Survey10.1109/TRO.2015.2489500 ↗
3. Fault-Tolerant Controllers in Robotic Manipulators. Performance Evaluations10.1109/TLA.2013.6710378 ↗
4. GapFlyt: Active Vision Based Minimalist Structure-Less Gap Detection for Quadrotor Flight10.1109/LRA.2018.2843445 ↗
5. Khalastchi, E., and Kalech, M. (2019). Fault Detection and Diagnosis in Multi-Robot Systems: A Survey. Sensors, 19.10.3390/s19184019 ↗
6. Data-Based Fault-Tolerant Consensus Control for Uncertain Multiagent Systems Via Weighted Edge Dynamics10.1109/TSMC.2017.2743261 ↗
7. Vision-Based Model Predictive Control for Steering of a Nonholonomic Mobile Robot
8. Robot Learning System Based on Adaptive Neural Control and Dynamic Movement Primitives10.1109/TNNLS.2018.2852711 ↗
9. Kinematic control of redundant manipulators using neural networks10.1109/TNNLS.2016.2574363 ↗
10. Adaptive Fuzzy Neural Network Control for Constrained Robot Using Impedance Learning10.1109/TNNLS.2017.2665581 ↗
11. Force Sensorless Admittance Control for Teleoperation of Uncertain Robot Manipulator Using Neural Networks10.1109/TSMC.2019.2920870 ↗
12. Composite-Learning-Based Adaptive Neural Control for Dual-Arm Robots with Relative Motion10.1109/TNNLS.2020.3037795 ↗
13. Dual Adaptive Dynamic Control of Mobile Robots Using Neural Networks10.1109/TSMCB.2008.2002851 ↗
14. Using Redundant and Disjoint Time-Variant Soft Robotic Sensors for Accurate Static State Estimation10.1109/LRA.2021.3061399 ↗
15. Failure recognition and fault tolerance of an autonomous robot10.1177/105971239400200403 ↗
16. Actuator fault diagnosis: An adaptive observerbased technique10.1109/9.508919 ↗
17. Tao, G., Ma, X., and Joshi, S.M. (2000, January 28–30). Adaptive state feedback control of systems with actuator failures. Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334), Chicago, IL, USA.
18. Adaptive Fixed-Time Fault-Tolerant Tracking Control and Its Application for Robot Manipulators10.1109/TIE.2021.3070494 ↗
19. Optimal Transport-Based Coverage Control for Swarm Robot Systems: Generalization of the Voronoi Tessellation-Based Method10.1109/LCSYS.2020.3039008 ↗
20. Efficient Dynamics Estimation with Adaptive Model Sets10.1109/LRA.2021.3060415 ↗
21. Adaptive Compensation of Multiple Actuator Faults for Two Physically Linked 2WD Robots10.1109/TRO.2017.2754518 ↗
22. Distributed Adaptive Event-Triggered Fault-Tolerant Synchronization for Multiagent Systems10.1109/TIE.2020.2967739 ↗
23. Adaptive Fuzzy Fault-Tolerant Tracking Control for Partially Unknown Systems with Actuator Faults via Integral Reinforcement Learning Method10.1109/TFUZZ.2019.2893211 ↗
24. Dual-Loop Optimal Control of a Robot Manipulator and Its Application in Warehouse Automation10.1109/TASE.2020.3027394 ↗
25. A symplectic instantaneous optimal control for robot trajectory tracking with differential-algebraic equation models10.1109/TIE.2019.2916390 ↗
26. Considering Uncertainty in Optimal Robot Control Through High-Order Cost Statistics10.1109/TRO.2018.2830374 ↗
27. Stable Parking Control of a Robot Astronaut in a Space Station Based on Human Dynamics10.1109/TRO.2019.2936302 ↗
28. Model Predictive Tracking Control of Nonholonomic Mobile Robots with Coupled Input Constraints and Unknown Dynamics10.1109/TII.2018.2874182 ↗
29. Model-Based Coordinated Control of Four-Wheel Independently Driven Skid Steer Mobile Robot with Wheel–Ground Interaction and Wheel Dynamics10.1109/TII.2018.2869573 ↗
30. Autonomous Steering of Concentric Tube Robots via Nonlinear Model Predictive Control10.1109/TRO.2020.2991651 ↗
31. Control Design for Soft Robots Based on Reduced-Order Model
32. PID-type fault-tolerant prescribed performance control of fixed-wing UAV10.23919/JSEE.2021.000090 ↗
33. An Adaptive Backstepping Nonsingular Fast Terminal Sliding Mode Control for Robust Fault Tolerant Control of Robot Manipulators10.1109/TSMC.2017.2782246 ↗
34. A Novel Fault-Tolerant Control Method for Robot Manipulators Based on Non-Singular Fast Terminal Sliding Mode Control and Disturbance Observer10.1109/ACCESS.2020.3001391 ↗
35. Robust Fault-Tolerant Control for a Class of Second-Order Nonlinear Systems Using an Adaptive Third-Order Sliding Mode Control
36. Robust Sliding Mode Control for Robots Driven by Compliant Actuators10.1109/TCST.2018.2799587 ↗
37. A Finite-Time Fault-Tolerant Control Using Non-Singular Fast Terminal Sliding Mode Control and Third-Order Sliding Mode Observer for Robotic Manipulators10.1109/ACCESS.2021.3059897 ↗
38. Fault-Tolerant Formation Control of Nonholonomic Robots Using Fast Adaptive Gain Nonsingular Terminal Sliding Mode Control10.1109/JSYST.2018.2794418 ↗
39. Observer-Based Sliding Mode Control for a Class of Noncommensurate Fractional-Order Systems10.1109/TMECH.2014.2386914 ↗
40. Fractional Order Sliding Mode Based Direct Power Control of Grid-Connected DFIG10.1109/TPWRS.2017.2761815 ↗
41. Fractional terminal sliding mode control design for a class of dynamical systems with uncertainty10.1016/j.cnsns.2011.04.032 ↗
42. Disturbance Observer Based Finite Time Trajectory Tracking Control for a 3 DOF Hydraulic Manipulator Including Actuator Dynamics10.1109/ACCESS.2018.2848240 ↗