Fault Tolerant Control Technology Based On Adaptive Sliding Mode Control For Manipulator Systems With Actuator Fault

In recent years,with the increasingly development of the science technology and industrial level,the manipulator technology has developed extremely fast and become one of the most popular science,also its related applications draw close attention of people around the world.As friction coefficient and load of manipulator system change constantly with time,and the working environment become gradually complicated,different kinds of faults inevitably occur in manipulator system.In such faults,actuator fault is the main reason for manipulator fault.Therefore,fault tolerant control(FTC)technology for manipulator system has been a hot topic for researchers.In this paper,FTC technology based on dynamic sliding mode control for manipulator system with actuator fault is researched,including the following three sections:Firstly,an adaptive passive FTC technology based on dynamic sliding mode control(DSMC)is proposed for manipulator system with external disturbance and actuator additive fault,then Lyapunov theory is used to prove the system stability.Through Simulation comparison,the fault tolerance ability of the proposed method is verified.Secondly,aiming at manipulator system in the presence of external disturbance and actuator multiplicative fault,a passive FTC method based on adaptive technology and DSMC is proposed.The adaptive algorithm is designed to estimate disturbance and fault information on line.Then the stability of the control system is proved via Lyapunov stability theory.Finally,through Simulation comparison,the effectiveness of the proposed method is verified.Thirdly,the manipulator system with external disturbance and actuator multiplicative fault is considered,firstly the nonlinear fault detection observer is designed to detect the fault,and the fault estimation can be obtained via the designed nonlinear fault estimation observer.Then an active FTC technology using the fault estimation is proposed based on DSMC,further the stability of the proposed controller is verified the Lyapunov theory.Finally,the validation of the designed controller is proved via experimental simulation.