Fixed-time fault-tolerant control of manipulator systems based on sliding mode observer |
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Authors: | Dan Li Ming Chen Kaixiang Peng Libing Wu |
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Affiliation: | 1. School of Electronic and Information Engineering, University of Science and Technology Liaoning, Anshan, Liaoning, China;2. School of Automation, University of Science and Technology Beijing, Beijing, China;3. School of Science, University of Science and Technology Liaoning, Anshan, Liaoning, China |
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Abstract: | A fixed-time fault-tolerant control scheme based on sliding mode observer is proposed, which makes the system more stable and stronger anti-jamming ability. In our design, its distinct characteristic is to combine the passive fault-tolerant control and non-singular fast terminal sliding mode (NFTSM). And it ensures that the system states can converge to a very small neighborhood near the equilibrium point in a fixed time no matter in normal condition or fault condition. In addition, a novel sliding-mode observer and a fast variable power reaching law are added to make the system converge faster and chattering smaller. Finally, the computer simulation results of a two-joint manipulator demonstrate the feasibility of the proposed strategy. |
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Keywords: | fault-tolerant control fixed-time control NFTSM sliding mode observer trajectory tracking |
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