Fault diagnosis and fault-tolerant control using high-order sliding mode for robot manipulator

Khaoula Oulidi Omali, Mohammed Nabil Kabbaj, Mohammed Benbrahim


Recently, the reliability and safety of the robot manipulator system has achieved important attention. System faults are able to lead to dangerous operations which can result in charge abortion or even unforeseeable damage to the equipment, the surroundings or humans. Thus, it is the greatest importance to detect and identify potential abnormalities and faults as soon as possible and implement fault tolerance for reducing performance degradation and keep away from dangerous situations. This paper develops a robust sensor fault detection and isolation (FDI) and fault tolerant control (FTC) for a robotic system. First, FDI scheme based on a super-twisting thirdorder sliding mode (STW-TOSM) observer is designed to estimate the residuals signals. Based on the fault information, an active FTC method can accommodate not only faults but also uncertainties, with a robust super-twisting second-order sliding mode (STW-SOSM) controller. Therefore, the proposed scheme is designed based on the high-order sliding mode (HOSM) observer/controller strategy, it exhibits fast convergence, high accuracy, and less chattering. Finally, a simulation results are shown to demonstrate and verify the performance and the effectiveness of the proposed method.

DOI: http://doi.org/10.11591/ijpeds.v12.i2.pp%25p


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