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A Fault Tolerant Control for Robotic Manipulators Using Adaptive Non-singular Fast Terminal Sliding Mode Control Based on Neural Third Order Sliding Mode Observer

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Intelligent Computing Methodologies (ICIC 2020)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 12465))

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Abstract

This paper proposes a fault tolerant control technique for uncertain faulty robotic manipulators when only position measurement is available. First, a neural third-order sliding mode observer is utilized to approximate the system velocities, the lumped uncertainties and faults, in which the radial basis function neural network is employed to approximate the observer gains. Then, the obtained information is applied to design a non-singular fast terminal sliding mode control to deal with the effect of the lumped uncertainties and faults. In addition, an adaptive law is used to approximate the sliding gain in switching control law. The controller-observer method can provide superior features such as high tracking precision, less chattering phenomenon, finite-time convergence, and robustness against the lumped uncertainties and faults without the requirement of its prior knowledge. The stability and finite-time convergence of the proposed technique are proved in theory by using the Lyapunov function. To verify the usefulness of the proposed strategy, computer simulations for a 2-link serial robotic manipulator are performed.

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Acknowledgement

This work was supported by the Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education under Grant 2019R1D1A3A03103528.

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Authors and Affiliations

  1. Graduate School of Electrical Engineering, University of Ulsan, Ulsan, 44610, South Korea

    Van-Cuong Nguyen

  2. School of Electrical Engineering, University of Ulsan, Ulsan, 44610, South Korea

    Hee-Jun Kang

Authors
  1. Van-Cuong Nguyen
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  2. Hee-Jun Kang
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Correspondence to Hee-Jun Kang .

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Editors and Affiliations

  1. Machine Learning and Systems Biology, Tongji University, Shanghai, China

    De-Shuang Huang

  2. School of Electrical, Computer and Telecommunications Engineering, University of Wollongong, North Wollongong, NSW, Australia

    Prashan Premaratne

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Nguyen, VC., Kang, HJ. (2020). A Fault Tolerant Control for Robotic Manipulators Using Adaptive Non-singular Fast Terminal Sliding Mode Control Based on Neural Third Order Sliding Mode Observer. In: Huang, DS., Premaratne, P. (eds) Intelligent Computing Methodologies. ICIC 2020. Lecture Notes in Computer Science(), vol 12465. Springer, Cham. https://doi.org/10.1007/978-3-030-60796-8_17

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  • DOI: https://doi.org/10.1007/978-3-030-60796-8_17

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-60795-1

  • Online ISBN: 978-3-030-60796-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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