In this paper, Fractional-order Non-singular Fast Terminal Sliding Mode Control based Fault Tolerant Control (FONFTSM-FTC) is investigated for robotic manipulators in the presence of uncertainties, unknown external load disturbances and actuator faults. Firstly, Fractional-order Non-singular Fast Terminal Sliding Mode Control (FONFTSM) is proposed, in which Fractional-order is used to obtain good tracking performance, and Non-singular Fast Terminal Sliding Mode Control is utilized to achieve fast finite-time convergence, non-singularity and chatter-free control inputs. Secondly, FONFTSM with Adaptive scheme is used as a robust Fault Tolerant Control (FTC) to estimate the uncertainties as well as actuator faults without prior knowledge of the upper bounds. Asymptotical stability of the closed-loop system is obtained by Lyapunov analysis. Finally, corresponding simulation results with compared recent methods of adaptive FONFTSM (AFONTSM) and Non-singular Fast Terminal Sliding Mode Control based Active FTC (NFTSMC-FTC) are made to validate and demonstrate the effectiveness of the proposed method.
Robotic manipulators, Fractional-order, Terminal sliding mode control, Fault tolerant control, Finite-time convergence.
Saim AHMED, Haoping WANG, Yang TIAN, "Fault Tolerant Control Using Fractional-order Terminal Sliding Mode Control for Robotic Manipulators", Studies in Informatics and Control, ISSN 1220-1766, vol. 27(1), pp. 55-64, 2018. https://doi.org/10.24846/v27i1y201806
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