Adaptive Sliding Mode Control of Robot Manipulators with System Failures

Rui Li, Liang Yang, Yong Chen and Guanyu Lai
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Rui Li: School of Computer Engineering, Zhongshan Institute, University of Electronic Science and Technology, Zhongshan 528402, China
Liang Yang: School of Computer Engineering, Zhongshan Institute, University of Electronic Science and Technology, Zhongshan 528402, China
Yong Chen: School of Automation Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China
Guanyu Lai: School of Automation, Guangdong University of Technology, Guangzhou 510006, China

Mathematics, 2022, vol. 10, issue 3, 1-15

Abstract: This paper presents a novel adaptive sliding mode controller for a class of robot manipulators with unknown disturbances and system failures, which can well achieve the asymptotic tracking, and avoid some possible singularity problems. A new virtual controller is designed such that the chosen Lyapunov function can be transformed into a non-Lipschitz function, based on which, the system states can arrive at the specified sliding surface within a finite time regardless of the existence of system failures/faults. By fusing an integral fast terminal nonsingular SMC and a robust adaptive technique, the tracking error can be steered into a preset range in a set time and some possible singularity problems are avoided elegantly. With our proposed scheme, the loss coefficient is well estimated, and the stability of the system can be guaranteed even in the presence of the total loss of actuator outputs. The experiment and simulation results are presented to illustrate the effectiveness of the proposed control scheme.

Keywords: sliding mode control; control of robots; fault-tolerant control; adaptive law; redundant control (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2022
References: View complete reference list from CitEc
Citations: View citations in EconPapers (2)

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