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Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator

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A Novel Active Fault-Tolerant Tracking Control for Robot Manipulators with Finite-Time Stability.

Thanh Nguyen Truong¹, Anh Tuan Vo¹, Hee-Jun Kang¹

¹Department of Electrical, Electronic and Computer Engineering, University of Ulsan, Ulsan 44610, Korea.

Sensors (Basel, Switzerland)

|December 10, 2021

Summary

This study introduces a new finite-time fault tolerance control (FTC) for robotic manipulators. It enhances tracking accuracy and response speed while minimizing chatter, even with system faults.

Keywords:

fault detection observer fault tolerant control finite-time control theory robot manipulators terminal sliding mode control

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Area of Science:

Robotics
Control Systems Engineering
Fault Tolerance

Background:

Terminal sliding mode controllers (TSMCs) offer finite-time trajectory tracking for robotic manipulators but suffer from chattering, slow convergence, and model dependency.
Existing TSMC limitations necessitate advanced control strategies to improve performance and robustness.

Purpose of the Study:

To develop a novel finite-time fault tolerance control (FTC) method for robotic manipulators that addresses the limitations of conventional TSMCs.
To enhance tracking accuracy, convergence speed, and robustness against uncertainties, disturbances, and faults.

Main Methods:

A finite-time fault detection observer (FTFDO) was designed to accurately estimate uncertainties, disturbances, and faults in real-time.
A new finite-time terminal sliding surface and reaching control law were developed for the FTC method, utilizing FTFDO estimates.

Main Results:

The proposed FTC method achieved fast finite-time convergence for both observation and control errors.
The system demonstrated high tracking accuracy, reduced control signal chattering, and rapid transient response under fault conditions.
Stability and finite-time convergence were rigorously proven using Lyapunov and finite-time control theories.

Conclusions:

The novel finite-time FTC approach effectively enhances robotic manipulator performance, ensuring operational reliability despite faults.
The method provides a robust solution with improved speed and accuracy compared to traditional TSMCs.
Simulation results for a FARA robotic manipulator validate the proposed control strategy's effectiveness.