Adaptive Fixed Time Fault Tolerant Tracking Control And Its Application For Robot Manipulators

Adaptive Fixed-Time Fault-Tolerant Tracking Control And Its Application For Robot Manipulators ...

Adaptive Fixed-Time Fault-Tolerant Tracking Control And Its Application For Robot Manipulators ... This article studies an adaptive fault tolerant approach with a fixed time sliding mode for trajectory tracking of uncertain robot manipulators with actuator effectiveness faults. This article introduces a fixed time trajectory control method for robotic manipulators, aimed at improving trajectory precision despite external disturbances, actuator faults, and uncertainties.

(PDF) Tracking And Cooperative Designs Of Robot Manipulators Using Adaptive Fixed-Time Fault ...

(PDF) Tracking And Cooperative Designs Of Robot Manipulators Using Adaptive Fixed-Time Fault ... This paper exploits the issue of fixed time (ft) tracking control (tc) for uncertain robotic manipulator systems (rms) with composite actuator faults (cafs), unknown disturbances and joint friction. By incorporating the adaptive neural networks into the command filtered backstepping design framework, a novel adaptive fault tolerant control law is constructed. First, a fixed time controller based on a backstepping control is designed and its disadvantages are analysed. then, an adaptive fuzzy backstepping control is developed to enhance the tracking performance of the system. A proximate fixed time fault tolerant prescribed performance control has been proposed for trajectory tracking of robot manipulators with actuator faults, parametric uncertainties, and bounded disturbances.

Figure 1 From Adaptive Fixed-Time Fault-Tolerant Tracking Control And Its Application For Robot ...

Figure 1 From Adaptive Fixed-Time Fault-Tolerant Tracking Control And Its Application For Robot ... First, a fixed time controller based on a backstepping control is designed and its disadvantages are analysed. then, an adaptive fuzzy backstepping control is developed to enhance the tracking performance of the system. A proximate fixed time fault tolerant prescribed performance control has been proposed for trajectory tracking of robot manipulators with actuator faults, parametric uncertainties, and bounded disturbances. Adaptive fuzzy fault tolerant control for robot manipulators with fixed time convergence published in: ieee transactions on fuzzy systems ( volume: 31 , issue: 9 , september 2023 ). In this paper, a novel robust fixed time fault tolerant control has been developed for global fixed time tracking for robot manipulators subject to uncertainties, disturbances and actuator faults. This paper studies an adaptive fault tolerant approach with fixed time sliding mode for trajectory tracking of uncertain robot manipulators with actuator effectiveness faults. The paper also discusses adaptive fault tolerant control of robots with sensor and/or actuator faults and unknown parameters, and fault tolerant cooperative control of multiple robot teams for collaborative tasks.

(PDF) A Novel Robust Fixed‐time Fault‐tolerant Tracking Control Of Uncertain Robot Manipulators

(PDF) A Novel Robust Fixed‐time Fault‐tolerant Tracking Control Of Uncertain Robot Manipulators Adaptive fuzzy fault tolerant control for robot manipulators with fixed time convergence published in: ieee transactions on fuzzy systems ( volume: 31 , issue: 9 , september 2023 ). In this paper, a novel robust fixed time fault tolerant control has been developed for global fixed time tracking for robot manipulators subject to uncertainties, disturbances and actuator faults. This paper studies an adaptive fault tolerant approach with fixed time sliding mode for trajectory tracking of uncertain robot manipulators with actuator effectiveness faults. The paper also discusses adaptive fault tolerant control of robots with sensor and/or actuator faults and unknown parameters, and fault tolerant cooperative control of multiple robot teams for collaborative tasks.

Prescribed performance adaptive fault tolerant control for a manipulator