A Novel Nonlinear Fault Tolerant Control for Manipulator under Actuator Fault
Joint Authors
He, Zhen
Fu, Jian
Xie, Fei
Zhao, Jing
Jiang, Sen
Source
Mathematical Problems in Engineering
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-10-14
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
A fault tolerant control (FTC) scheme based on adaptive sliding mode control technique is proposed for manipulator with actuator fault.
Firstly, the dynamic model of manipulator is introduced and its actuator faulty model is established.
Secondly, a fault tolerant controller is designed, in which both the parameters of actuator fault and external disturbance are estimated and updated by online adaptive technology.
Finally, taking a two-joint manipulator as example, simulation results show that the proposed fault tolerant control scheme is effective in tolerating actuator fault; meanwhile it has strong robustness for external disturbance.
American Psychological Association (APA)
Zhao, Jing& Jiang, Sen& Xie, Fei& He, Zhen& Fu, Jian. 2018. A Novel Nonlinear Fault Tolerant Control for Manipulator under Actuator Fault. Mathematical Problems in Engineering،Vol. 2018, no. 2018, pp.1-11.
https://search.emarefa.net/detail/BIM-1207856
Modern Language Association (MLA)
Zhao, Jing…[et al.]. A Novel Nonlinear Fault Tolerant Control for Manipulator under Actuator Fault. Mathematical Problems in Engineering No. 2018 (2018), pp.1-11.
https://search.emarefa.net/detail/BIM-1207856
American Medical Association (AMA)
Zhao, Jing& Jiang, Sen& Xie, Fei& He, Zhen& Fu, Jian. A Novel Nonlinear Fault Tolerant Control for Manipulator under Actuator Fault. Mathematical Problems in Engineering. 2018. Vol. 2018, no. 2018, pp.1-11.
https://search.emarefa.net/detail/BIM-1207856
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1207856