INTSMC-Based Fault Tolerant Control Approach for a 2-DOF Robotic System

Abstract

This paper proposes a Fault Tolerant Control (FTC) scheme for a 2-DoF robotic system. The design is based on a new integral non-singular terminal sliding mode control (INTSMC) framework and aims at mitigating actuator faults whilst guaranteeing finite time convergence of the states. The design includes a comprehensive actuator fault model that encompasses different scenarios of bias and loss of effectiveness faults. The stability of the proposed FTC module is verified based on the Lyapunov stability criteria. The overall scheme was implemented to a second-order robotic system subject to different faulty scenarios. The INTSMC-based FTC approach was shown to guarantee system stability and ensure good tracking performance under various faulty conditions.