A4 Conference proceedings

INTSMC-Based Fault Tolerant Control Approach for a 2-DOF Robotic System

Publication Details
Authors: Shabbouei Hagh Yashar, Mohammadi Asl Reza, Fekih Afef, Handroos Heikki
Publication year: 2020
Language: English
Related Journal or Series Information: IEEE Conference on Industrial Electronics and Applications
Title of parent publication: 2020 15th IEEE Conference on Industrial Electronics and Applications (ICIEA)
Journal acronym: ICIEA
ISBN: 978-1-7281-5170-0
eISBN: 978-1-7281-5169-4
ISSN: 2156-2318
eISSN: 2158-2297
JUFO-Level of this publication: 1
Open Access: Not an Open Access publication


This paper proposes a Fault Tolerant Control (FTC) scheme for a 2-DoF robotic system. The design is based on a new integral non-singular terminal sliding mode control (INTSMC) framework and aims at mitigating actuator faults whilst guaranteeing finite time convergence of the states. The design includes a comprehensive actuator fault model that encompasses different scenarios of bias and loss of effectiveness faults. The stability of the proposed FTC module is verified based on the Lyapunov stability criteria. The overall scheme was implemented to a second-order robotic system subject to different faulty scenarios. The INTSMC-based FTC approach was shown to guarantee system stability and ensure good tracking performance under various faulty conditions.

Last updated on 2020-04-12 at 11:59