Finite-Time Fault-Tolerant Control for a Robotic Manipulator With Output Constraint and Uncertainties

This paper proposed a finite-time backstepping control for a robotic manipulator under the presence of actuator fault, saturation constraints, output constraints, and external disturbance to obtain requirements about the robustness, fast convergence, and high accuracy tracking performance. To manage...

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Autores principales:	Duc Thien Tran, Kyoung Kwan Ahn
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2021
Materias:	Robotic manipulator transformation technique fractional-order terms backstepping control fault-tolerant control output constraints Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/aa3d18094dfe4cc5988a30772846e5bf
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id	oai:doaj.org-article:aa3d18094dfe4cc5988a30772846e5bf
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spelling	oai:doaj.org-article:aa3d18094dfe4cc5988a30772846e5bf2021-11-09T00:01:45ZFinite-Time Fault-Tolerant Control for a Robotic Manipulator With Output Constraint and Uncertainties2169-353610.1109/ACCESS.2021.3122010https://doaj.org/article/aa3d18094dfe4cc5988a30772846e5bf2021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9583263/https://doaj.org/toc/2169-3536This paper proposed a finite-time backstepping control for a robotic manipulator under the presence of actuator fault, saturation constraints, output constraints, and external disturbance to obtain requirements about the robustness, fast convergence, and high accuracy tracking performance. To manage the above challenges, the proposed control is designed on a transformed model with the backstepping approach and extended state observer. The transformed model is resulted from converting a constrained system based on a transformation technique. So, it provides an ability for the proposed control to obtain the prescribed performance of the output response. Additionally, an extended state observer is conducted to deal with the lumped uncertainties in the system. The essential characteristic of the proposed control is no required knowledge of the actuator faults and external disturbance to be available. Furthermore, fractional-order terms are added in the control laws to enhance the rate of output responses. To demonstrate the advantages of the proposed control in terms of global asymptotic stability, the Lyapunov approach is used to verify the whole controlled system in theory. The proposed control is applied to a 2-degree of freedom (DOF) manipulator and simulated by MATLAB Simulink. Its simulation results are compared to other state-of-the-art methods to exhibit the effectiveness of the proposed control.Duc Thien TranKyoung Kwan AhnIEEEarticleRobotic manipulatortransformation techniquefractional-order termsbackstepping controlfault-tolerant controloutput constraintsElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 146771-146782 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Robotic manipulator transformation technique fractional-order terms backstepping control fault-tolerant control output constraints Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Robotic manipulator transformation technique fractional-order terms backstepping control fault-tolerant control output constraints Electrical engineering. Electronics. Nuclear engineering TK1-9971 Duc Thien Tran Kyoung Kwan Ahn Finite-Time Fault-Tolerant Control for a Robotic Manipulator With Output Constraint and Uncertainties
description	This paper proposed a finite-time backstepping control for a robotic manipulator under the presence of actuator fault, saturation constraints, output constraints, and external disturbance to obtain requirements about the robustness, fast convergence, and high accuracy tracking performance. To manage the above challenges, the proposed control is designed on a transformed model with the backstepping approach and extended state observer. The transformed model is resulted from converting a constrained system based on a transformation technique. So, it provides an ability for the proposed control to obtain the prescribed performance of the output response. Additionally, an extended state observer is conducted to deal with the lumped uncertainties in the system. The essential characteristic of the proposed control is no required knowledge of the actuator faults and external disturbance to be available. Furthermore, fractional-order terms are added in the control laws to enhance the rate of output responses. To demonstrate the advantages of the proposed control in terms of global asymptotic stability, the Lyapunov approach is used to verify the whole controlled system in theory. The proposed control is applied to a 2-degree of freedom (DOF) manipulator and simulated by MATLAB Simulink. Its simulation results are compared to other state-of-the-art methods to exhibit the effectiveness of the proposed control.
format	article
author	Duc Thien Tran Kyoung Kwan Ahn
author_facet	Duc Thien Tran Kyoung Kwan Ahn
author_sort	Duc Thien Tran
title	Finite-Time Fault-Tolerant Control for a Robotic Manipulator With Output Constraint and Uncertainties
title_short	Finite-Time Fault-Tolerant Control for a Robotic Manipulator With Output Constraint and Uncertainties
title_full	Finite-Time Fault-Tolerant Control for a Robotic Manipulator With Output Constraint and Uncertainties
title_fullStr	Finite-Time Fault-Tolerant Control for a Robotic Manipulator With Output Constraint and Uncertainties
title_full_unstemmed	Finite-Time Fault-Tolerant Control for a Robotic Manipulator With Output Constraint and Uncertainties
title_sort	finite-time fault-tolerant control for a robotic manipulator with output constraint and uncertainties
publisher	IEEE
publishDate	2021
url	https://doaj.org/article/aa3d18094dfe4cc5988a30772846e5bf
work_keys_str_mv	AT ducthientran finitetimefaulttolerantcontrolforaroboticmanipulatorwithoutputconstraintanduncertainties AT kyoungkwanahn finitetimefaulttolerantcontrolforaroboticmanipulatorwithoutputconstraintanduncertainties
_version_	1718441410287370240

Finite-Time Fault-Tolerant Control for a Robotic Manipulator With Output Constraint and Uncertainties

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