Adaptive Fuzzy Integral Sliding Mode Control for Robust Fault Tolerant Control of Robot Manipulators with Disturbance Observer

Mien Van, Shuzhi Sam Ge

Research output: Contribution to journalArticle

Abstract

This paper develops a new strategy for robust fault tolerant control (FTC) of robot manipulators using an adaptive fuzzy integral sliding mode control and a disturbance observer (DO). First, an integral sliding mode control (ISMC) is developed for the FTC system. The major features of the approach are discussed. Then, to enhance performance of the system, a fuzzy logic system (FLS) approximation and a DO are introduced to approximate the unknown nonlinear terms, which include the model uncertainty and fault components, and estimates the compounded disturbance,respectively,and then integrated into the ISMC. Next, a switching term based on an adaptive twolayer super-twisting algorithm is designed to compensate thedisturbanceestimatederrorandguaranteestabilityand convergence of the whole system. The nominal controller of the ISMC is reconstructed using backstepping control technique to achieve the stability for the nominal system based on Lyapunov criteria. The computer simulation results demonstrate the effectiveness of the proposed approach.
Original languageEnglish
Number of pages13
JournalIEEE Transactions on Fuzzy Systems
Early online date13 Feb 2020
DOIs
Publication statusEarly online date - 13 Feb 2020

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Disturbance Observer
Fuzzy Integral
Fault-tolerant Control
Robot Manipulator
Sliding mode control
Sliding Mode Control
Robust Control
Manipulators
Robots
Categorical or nominal
Backstepping Control
Fault-tolerant Systems
Fuzzy Logic System
Backstepping
Model Uncertainty
Term
Lyapunov
Fuzzy logic
Fault
Computer Simulation

Cite this

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title = "Adaptive Fuzzy Integral Sliding Mode Control for Robust Fault Tolerant Control of Robot Manipulators with Disturbance Observer",
abstract = "This paper develops a new strategy for robust fault tolerant control (FTC) of robot manipulators using an adaptive fuzzy integral sliding mode control and a disturbance observer (DO). First, an integral sliding mode control (ISMC) is developed for the FTC system. The major features of the approach are discussed. Then, to enhance performance of the system, a fuzzy logic system (FLS) approximation and a DO are introduced to approximate the unknown nonlinear terms, which include the model uncertainty and fault components, and estimates the compounded disturbance,respectively,and then integrated into the ISMC. Next, a switching term based on an adaptive twolayer super-twisting algorithm is designed to compensate thedisturbanceestimatederrorandguaranteestabilityand convergence of the whole system. The nominal controller of the ISMC is reconstructed using backstepping control technique to achieve the stability for the nominal system based on Lyapunov criteria. The computer simulation results demonstrate the effectiveness of the proposed approach.",
author = "Mien Van and Ge, {Shuzhi Sam}",
year = "2020",
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AU - Ge, Shuzhi Sam

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N2 - This paper develops a new strategy for robust fault tolerant control (FTC) of robot manipulators using an adaptive fuzzy integral sliding mode control and a disturbance observer (DO). First, an integral sliding mode control (ISMC) is developed for the FTC system. The major features of the approach are discussed. Then, to enhance performance of the system, a fuzzy logic system (FLS) approximation and a DO are introduced to approximate the unknown nonlinear terms, which include the model uncertainty and fault components, and estimates the compounded disturbance,respectively,and then integrated into the ISMC. Next, a switching term based on an adaptive twolayer super-twisting algorithm is designed to compensate thedisturbanceestimatederrorandguaranteestabilityand convergence of the whole system. The nominal controller of the ISMC is reconstructed using backstepping control technique to achieve the stability for the nominal system based on Lyapunov criteria. The computer simulation results demonstrate the effectiveness of the proposed approach.

AB - This paper develops a new strategy for robust fault tolerant control (FTC) of robot manipulators using an adaptive fuzzy integral sliding mode control and a disturbance observer (DO). First, an integral sliding mode control (ISMC) is developed for the FTC system. The major features of the approach are discussed. Then, to enhance performance of the system, a fuzzy logic system (FLS) approximation and a DO are introduced to approximate the unknown nonlinear terms, which include the model uncertainty and fault components, and estimates the compounded disturbance,respectively,and then integrated into the ISMC. Next, a switching term based on an adaptive twolayer super-twisting algorithm is designed to compensate thedisturbanceestimatederrorandguaranteestabilityand convergence of the whole system. The nominal controller of the ISMC is reconstructed using backstepping control technique to achieve the stability for the nominal system based on Lyapunov criteria. The computer simulation results demonstrate the effectiveness of the proposed approach.

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