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International Conference on Intelligent Computing

ICIC 2013: Intelligent Computing Theories pp 526–535Cite as

Fault Tolerant Control for Robot Manipulators Using Neural Network and Second-Order Sliding Mode Observer

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Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 7995))

Abstract

This paper investigates an algorithm for fault tolerant control of uncertain robot manipulator with only joint position measurement using neural network and second-order sliding mode observer. First, a neural network (NN) observer is designed to estimate the modeling uncertainties. Based on the obtained uncertainty estimation, a second-order sliding mode observer is then designed for two purposes: 1) Providing the velocity estimation, 2) providing the fault information that is used for fault detection, isolation and identification. Finally, a fault tolerant control scheme is proposed for compensating the effect of uncertainties and faults based on the fault estimation information. Computer simulation results on a PUMA560 industrial robot are shown to verify the effectiveness of the proposed strategy.

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Author information

Authors and Affiliations

  1. Graduate School of Electrical Engineering, University of Ulsan, 680-749, South Korea

    Mien Van

  2. School of Electrical Engineering, University of Ulsan, 680-749, South Korea

    Hee-Jun Kang

Authors
  1. Mien Van
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  2. Hee-Jun Kang
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Editor information

Editors and Affiliations

  1. Machine Learning and Systems Biology Laboratory, Tongji University, 4800 Caoan Road, 201804, Shanghai, China

    De-Shuang Huang

  2. Electrical and Electronics Department, Polytechnic of Bari, Via Orabona 4, 70125, Bari, Italy

    Vitoantonio Bevilacqua

  3. Faculty of Engineering, District University Francisco José de Caldas, Cra. 7a No. 40-53, Fifth Floor, Bogotá, Colombia

    Juan Carlos Figueroa

  4. School of Electrical, Computer and Telecommunications Engineering, The University of Wollongong, 2522, North Wollongong, NSW, Australia

    Prashan Premaratne

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© 2013 Springer-Verlag Berlin Heidelberg

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Van, M., Kang, HJ. (2013). Fault Tolerant Control for Robot Manipulators Using Neural Network and Second-Order Sliding Mode Observer. In: Huang, DS., Bevilacqua, V., Figueroa, J.C., Premaratne, P. (eds) Intelligent Computing Theories. ICIC 2013. Lecture Notes in Computer Science, vol 7995. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-39479-9_62

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  • DOI: https://doi.org/10.1007/978-3-642-39479-9_62

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-39478-2

  • Online ISBN: 978-3-642-39479-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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