Finite time fault-tolerant control of manipulator under actuator fault

doi:10.16731/j.cnki.1671-3133.2025.05.010

Abstract

Abstract: A sliding mode fault-tolerant control strategy based on extended state observer was designed to solve the problem of actuator failure,considering external interference and actuator input saturation. Firstly,the extended state observer was used to estimate the complex interference including the fault. The extended state observer is independent of all the state measurements and mathematical models,and can accurately estimate the external interference and the actuator fault. Aiming at the input saturation problem of actuator,a nonlinear anti saturation compensator was designed to compensate the input saturation overflow effect in real time. Then a finite-time controller based on non-singular terminal sliding mode was proposed to realize the precise control of the manipulator system. The convergence time of the sliding mode variable was bounded and independent with the initial state of the system. Based on Lyapunov stability theory,the finite-time stability of closed-loop system was proved. Finally,the superiority of the proposed controller was verified by simulation and comparison with the control method combining the extended state observer and boundary layer technology in the literature.

Key words: manipulator system, actuator fault, extended state observer, sliding-mode control, finite time

CLC Number:

TP273

CAO Shengjie, WU Hai, CHENG Yitao, REN Zesheng. Finite time fault-tolerant control of manipulator under actuator fault[J]. Modern Manufacturing Engineering, 2025, 536(5): 82-90.

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