Geodesic
Observer-based adaptive sliding mode fault-tolerant control for the underactuated space robot with joint actuator gain faults
Kybernetika, Tome 57 (2021) no. 1, pp. 160-173.

Voir la notice de l'article provenant de la source Czech Digital Mathematics Library

An adaptive sliding mode fault-tolerant controller based on fault observer is proposed for the space robots with joint actuator gain faults. Firstly, the dynamic model of the underactuated space robot is deduced combining conservation law of linear momentum with Lagrange method. Then, the dynamic model of the manipulator joints is obtained by using the mathematical operation of the block matrices, hence the measurement of the angular acceleration of the base attitude can be omitted. Subsequently, a fault observer which can accurately estimate the gain faults is designed, and the estimated results are fed back to the adaptive sliding mode fault-tolerant controller. It is proved that the proposed control algorithm can guarantee the global asymptotic stability of the closed-loop system through the Lyapunov theorem. The simulation results authenticate the effectiveness and feasibility of the control strategy and observation scheme.
DOI : 10.14736/kyb-2021-1-0160
Classification : 03C65, 34D20, 93C10
Keywords: space robot; underactuated; actuator gain fault; fault observer; fault-tolerant 
@article{10_14736_kyb_2021_1_0160,
     author = {Lei, Ronghua and Chen, Li},
     title = {Observer-based adaptive sliding mode fault-tolerant control for the underactuated space robot with joint actuator gain faults},
     journal = {Kybernetika},
     pages = {160--173},
     publisher = {mathdoc},
     volume = {57},
     number = {1},
     year = {2021},
     doi = {10.14736/kyb-2021-1-0160},
     mrnumber = {4231862},
     zbl = {07396261},
     language = {en},
     url = {http://geodesic.mathdoc.fr/articles/10.14736/kyb-2021-1-0160/}
}
TY  - JOUR
AU  - Lei, Ronghua
AU  - Chen, Li
TI  - Observer-based adaptive sliding mode fault-tolerant control for the underactuated space robot with joint actuator gain faults
JO  - Kybernetika
PY  - 2021
SP  - 160
EP  - 173
VL  - 57
IS  - 1
PB  - mathdoc
UR  - http://geodesic.mathdoc.fr/articles/10.14736/kyb-2021-1-0160/
DO  - 10.14736/kyb-2021-1-0160
LA  - en
ID  - 10_14736_kyb_2021_1_0160
ER  - 
%0 Journal Article
%A Lei, Ronghua
%A Chen, Li
%T Observer-based adaptive sliding mode fault-tolerant control for the underactuated space robot with joint actuator gain faults
%J Kybernetika
%D 2021
%P 160-173
%V 57
%N 1
%I mathdoc
%U http://geodesic.mathdoc.fr/articles/10.14736/kyb-2021-1-0160/
%R 10.14736/kyb-2021-1-0160
%G en
%F 10_14736_kyb_2021_1_0160
Lei, Ronghua; Chen, Li. Observer-based adaptive sliding mode fault-tolerant control for the underactuated space robot with joint actuator gain faults. Kybernetika, Tome 57 (2021) no. 1, pp. 160-173. doi : 10.14736/kyb-2021-1-0160. http://geodesic.mathdoc.fr/articles/10.14736/kyb-2021-1-0160/

Cité par Sources :