Observer-based adaptive sliding mode fault-tolerant control for the underactuated space robot with joint actuator gain faults

Ronghua Lei; Li Chen

Kybernetika (2021)

  • Issue: 1, page 160-173
  • ISSN: 0023-5954

Abstract

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An adaptive sliding mode fault-tolerant controller based on fault observer is proposed for the space robots with joint actuator gain faults. Firstly, the dynamic model of the underactuated space robot is deduced combining conservation law of linear momentum with Lagrange method. Then, the dynamic model of the manipulator joints is obtained by using the mathematical operation of the block matrices, hence the measurement of the angular acceleration of the base attitude can be omitted. Subsequently, a fault observer which can accurately estimate the gain faults is designed, and the estimated results are fed back to the adaptive sliding mode fault-tolerant controller. It is proved that the proposed control algorithm can guarantee the global asymptotic stability of the closed-loop system through the Lyapunov theorem. The simulation results authenticate the effectiveness and feasibility of the control strategy and observation scheme.

How to cite

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Lei, Ronghua, and Chen, Li. "Observer-based adaptive sliding mode fault-tolerant control for the underactuated space robot with joint actuator gain faults." Kybernetika (2021): 160-173. <http://eudml.org/doc/298089>.

@article{Lei2021,
abstract = {An adaptive sliding mode fault-tolerant controller based on fault observer is proposed for the space robots with joint actuator gain faults. Firstly, the dynamic model of the underactuated space robot is deduced combining conservation law of linear momentum with Lagrange method. Then, the dynamic model of the manipulator joints is obtained by using the mathematical operation of the block matrices, hence the measurement of the angular acceleration of the base attitude can be omitted. Subsequently, a fault observer which can accurately estimate the gain faults is designed, and the estimated results are fed back to the adaptive sliding mode fault-tolerant controller. It is proved that the proposed control algorithm can guarantee the global asymptotic stability of the closed-loop system through the Lyapunov theorem. The simulation results authenticate the effectiveness and feasibility of the control strategy and observation scheme.},
author = {Lei, Ronghua, Chen, Li},
journal = {Kybernetika},
keywords = {space robot; underactuated; actuator gain fault; fault observer; fault-tolerant},
language = {eng},
number = {1},
pages = {160-173},
publisher = {Institute of Information Theory and Automation AS CR},
title = {Observer-based adaptive sliding mode fault-tolerant control for the underactuated space robot with joint actuator gain faults},
url = {http://eudml.org/doc/298089},
year = {2021},
}

TY - JOUR
AU - Lei, Ronghua
AU - Chen, Li
TI - Observer-based adaptive sliding mode fault-tolerant control for the underactuated space robot with joint actuator gain faults
JO - Kybernetika
PY - 2021
PB - Institute of Information Theory and Automation AS CR
IS - 1
SP - 160
EP - 173
AB - An adaptive sliding mode fault-tolerant controller based on fault observer is proposed for the space robots with joint actuator gain faults. Firstly, the dynamic model of the underactuated space robot is deduced combining conservation law of linear momentum with Lagrange method. Then, the dynamic model of the manipulator joints is obtained by using the mathematical operation of the block matrices, hence the measurement of the angular acceleration of the base attitude can be omitted. Subsequently, a fault observer which can accurately estimate the gain faults is designed, and the estimated results are fed back to the adaptive sliding mode fault-tolerant controller. It is proved that the proposed control algorithm can guarantee the global asymptotic stability of the closed-loop system through the Lyapunov theorem. The simulation results authenticate the effectiveness and feasibility of the control strategy and observation scheme.
LA - eng
KW - space robot; underactuated; actuator gain fault; fault observer; fault-tolerant
UR - http://eudml.org/doc/298089
ER -

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