Finite-time Fault Tolerant Control for Uncertain-Robot Mechanism Using Adaptive-Gain SMC

摘要

For the perturbed robot system with joint faults, this article proposes a novel finite-time fault-tolerant control (FTC) method. Firstly, an adaptive non-singular fast terminal sliding mode surface (ANFTSMS) is designed. Then, an adaptive-gain active fault-tolerant sliding mode (AGAFTSM) controller is suggested to recompense for actuator faults and system uncertainties, which is designed based on the suggested function and the estimated data from an improved super twisting third-order sliding mode (ISTWTOSM) observer. Furthermore, the proposed approach not only can accommodate the faults and uncertainties but also can reduce the chattering. Finally, the strength of the controller is recognized by using the Lyapunov stability scheme. The simulation results show the effectiveness of the proposed technique in terms of tracking accuracy compared to the corresponding methods in the literature.