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Real Implementation of an Active Fault Tolerant Control Based on Super Twisting Technique for a Robot Manipulator

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Book cover Intelligent Computing Methodologies (ICIC 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11645))

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Abstract

In this paper, real implementation of an active fault-tolerant control for a robot manipulator based on the combination of an external linear observer and the super-twisting algorithm is proposed. This active fault-tolerant scheme uses an external linear observer to identify faults. Then, the fault information is used to compensate the uncertainties/disturbance and faults with the super twisting controller. Finally, the effectiveness of proposed control is verified by simulation and implementation for a 3-DOF robot manipulator. The results were illustrated that the proposed control can tolerate the relatively bigger faults due to the design of the observer and then show the better performances than the conventional super-twisting controller does.

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Acknowledgment

This research was supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (NRF-2016R1D1A3B03930496).

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Authors and Affiliations

  1. Graduate School of Electrical Engineering, University of Ulsan, Ulsan, South Korea

    Quang Dan Le

  2. School of Electrical Engineering, University of Ulsan, Ulsan, South Korea

    Hee-Jun Kang

Authors
  1. Quang Dan Le
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  2. Hee-Jun Kang
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Correspondence to Hee-Jun Kang .

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Editors and Affiliations

  1. Tongji University, Shanghai, China

    De-Shuang Huang

  2. Nanchang Institute of Technology, Nanchang, China

    Zhi-Kai Huang

  3. Liverpool John Moores University, Liverpool, UK

    Abir Hussain

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Le, Q.D., Kang, HJ. (2019). Real Implementation of an Active Fault Tolerant Control Based on Super Twisting Technique for a Robot Manipulator. In: Huang, DS., Huang, ZK., Hussain, A. (eds) Intelligent Computing Methodologies. ICIC 2019. Lecture Notes in Computer Science(), vol 11645. Springer, Cham. https://doi.org/10.1007/978-3-030-26766-7_27

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  • DOI: https://doi.org/10.1007/978-3-030-26766-7_27

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-26765-0

  • Online ISBN: 978-3-030-26766-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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