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Adaptive fractional-order integral fast terminal sliding mode and fault-tolerant control of dual-arm robots

Published online by Cambridge University Press:  07 March 2024

Le Anh Tuan Open the ORCID record for Le Anh Tuan [Opens in a new window]  and
Quang Phuc Ha Open the ORCID record for Quang Phuc Ha [Opens in a new window]
Le Anh Tuan*
Affiliation:
Vietnam Maritime University, Haiphong, Vietnam
Quang Phuc Ha
Affiliation:
Faculty of Engineering and Information Technology, University of Technology Sydney, Sydney, Australia
*
Corresponding author: Le Anh Tuan; Email: tuanla.ck@vimaru.edu.vn
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Abstract

Closed-loop kinematics of a dual-arm robot (DAR) often induces motion conflict. Control formulation is increasingly difficult in face of actuator failures. This article presents a new approach for fault-tolerant control of DARs based on advanced sliding mode control. A comprehensive fractional-order model is proposed taking nonlinear viscous and viscoelastic friction at the joints into account. Using integral fast terminal sliding mode control and fractional calculus, we develop two robust controllers for robots subject to motor faults, parametric uncertainties, and disturbances. Their merits rest with their strong robustness, speedy finite-time convergence, shortened reaching phase, and flexible selection of derivative orders. To avoid the need for full knowledge of faults, robot parameters, and disturbances, two versions of the proposed approach, namely adaptive integral fractional-order fast terminal sliding mode control, are developed. Here, an adaptation mechanism is equipped for estimating a common representative of individual uncertainties. Simulation and experiment are provided along with an extensive comparison with existing approaches. The results demonstrate the superiority of the proposed control technique. The robot performs well the tasks with better responses (e.g., with settling time reduced by at least 16%).

Keywords

dual-arm robotsfault-tolerant controlfractional-order systemsadaptive controlsliding mode control
Type
Research Article
Information
Robotica , Volume 42 , Issue 5 , May 2024 , pp. 1476 - 1499
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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