首页|Researcher from Xihua University Details New Studies and Findings in the Area of Robotics (Coupled error super-twisted sliding mode active fault-tolerant contro l for robotic system with actuator fault)
Researcher from Xihua University Details New Studies and Findings in the Area of Robotics (Coupled error super-twisted sliding mode active fault-tolerant contro l for robotic system with actuator fault)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – Current study results on robotics have been published. According to news originating from Xihua University by NewsRx c orrespondents, research stated, “This paper focuses on a robotic system with act uator fault and presents a sliding mode active fault-tolerant control method bas ed on coupled position error.” Funders for this research include Natural Science Foundation of Sichuan Province ; National Natural Science Foundation of China.The news reporters obtained a quote from the research from Xihua University: “Th e actuator fault is first detected by a fault alerter with a predetermined thres hold. After the fault is successfully detected, the fault is estimated by a faul t observer. Coupling the position error with the weighted position error of diff erent joints, a non-singular fast terminal sliding mode surface is constructed, and a super-twisted algorithm is introduced to design a coupled error super-twis ted sliding mode controller (CESSMC). Furthermore, the fault estimation is incor porated with the CESSMC to accomplish the coupled error super-twisted sliding mo de active fault-tolerant control. The stability and the finite-time convergence of the system are theoretically proved. Simulations and experiments are conducte d to verify the effectiveness of the proposed method.”