Sliding Mode Fault Tolerant Tracking Control for a Single-Link Flexible Joint Manipulator System

In this paper, the fault-tolerant tracking control problem for a class of single-link flexible joint manipulator (SFJM) system with uncertainty, fault, nonlinear function, and unmatched disturbance is investigated. An observer-based sliding mode control approach is designed. Concretely, first of all, the SFJM dynamic system with uncertainty, fault, and unmatched disturbance is established. Then, by transforming the system into two subsystems, a novel composite observer is proposed to estimate the fault and disturbance, respectively. Furthermore, a robust sliding mode controller, which contains a third-order sliding mode surface, a continuous control strategy, and a visual estimated fault signal, is constructed. In the control scheme, an adaptive law is also concluded to compensate for the estimation error. Finally, the proposed method is applied to the SFJM system and the simulation results illustrate the effectiveness of the proposed method.

[1]  Chris Lightcap,et al.  An Extended Kalman Filter for Real-Time Estimation and Control of a Rigid-Link Flexible-Joint Manipulator , 2010, IEEE Transactions on Control Systems Technology.

[2]  Zhijun Li,et al.  Dynamic Balance Optimization and Control of Quadruped Robot Systems With Flexible Joints , 2016, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[3]  Elizabeth A. Croft,et al.  Full-State Tracking Control for Flexible Joint Robots With Singular Perturbation Techniques , 2019, IEEE Transactions on Control Systems Technology.

[4]  S. R. Nekoo,et al.  Finite-time state-dependent Riccati equation for time-varying nonaffine systems: rigid and flexible joint manipulator control. , 2015, ISA transactions.

[5]  Patrick Lanusse,et al.  Fractional Order Controller Design for A Flexible Link Manipulator Robot , 2013 .

[6]  S.E. Talole,et al.  Extended State Observer based control of flexible joint system , 2008, 2008 IEEE International Symposium on Industrial Electronics.

[7]  Jianbo Su,et al.  Design of a Disturbance Observer for a Two-Link Manipulator With Flexible Joints , 2014, IEEE Transactions on Control Systems Technology.

[8]  Jie Zhao,et al.  A Dynamic Parameter Identification Method for Flexible Joints Based on Adaptive Control , 2018, IEEE/ASME Transactions on Mechatronics.

[9]  Yongduan Song,et al.  Descriptor sliding mode approach for fault/noise reconstruction and fault-tolerant control of nonlinear uncertain systems , 2016, Inf. Sci..

[10]  Mohammad Javad Yazdanpanah,et al.  Adaptive state observer for Lipschitz nonlinear systems , 2013, Syst. Control. Lett..

[11]  Y.-C. Chang,et al.  Design of a robust position feedback tracking controller for flexible-joint robots , 2011 .

[12]  Changyin Sun,et al.  Neural-Learning-Based Control for a Constrained Robotic Manipulator With Flexible Joints , 2018, IEEE Transactions on Neural Networks and Learning Systems.

[13]  Shihua Li,et al.  Non-linear disturbance observer-based robust control for systems with mismatched disturbances/uncertainties , 2011 .

[14]  Steven X. Ding,et al.  State and Disturbance Estimator for Time-Delay Systems With Application to Fault Estimation and Signal Compensation , 2007, IEEE Transactions on Signal Processing.

[15]  Zhiwei Gao,et al.  Unknown Input Observer-Based Robust Fault Estimation for Systems Corrupted by Partially Decoupled Disturbances , 2016, IEEE Transactions on Industrial Electronics.

[16]  Xiaojie Su,et al.  Fault-Tolerant Control of Multiarea Power Systems via a Sliding-Mode Observer Technique , 2017, IEEE/ASME Transactions on Mechatronics.

[17]  Mahyar Naraghi,et al.  Adaptive super-twisting observer for fault reconstruction in electro-hydraulic systems , 2018, ISA transactions.

[18]  Yuri B. Shtessel,et al.  New methodologies for adaptive sliding mode control , 2010, Int. J. Control.

[19]  Qi Li,et al.  Trajectory Tracking Control of a One Degree of Freedom Manipulator Based on a Switched Sliding Mode Controller With a Novel Extended State Observer Framework , 2019, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[20]  Mario Ramirez-Neria,et al.  On the Robust Trajectory Tracking Task for Flexible-Joint Robotic Arm With Unmodeled Dynamics , 2016, IEEE Access.

[21]  Alin Albu-Schäffer,et al.  Robust Adaptive Tracking Control Based on State Feedback Controller With Integrator Terms for Elastic Joint Robots With Uncertain Parameters , 2018, IEEE Transactions on Control Systems Technology.

[22]  George A. Rovithakis,et al.  Prescribed performance tracking for flexible joint robots with unknown dynamics and variable elasticity , 2013, Autom..

[23]  Xiuxing Yin,et al.  Direct adaptive robust tracking control for 6 DOF industrial robot with enhanced accuracy. , 2017, ISA transactions.