| Field |
Value |
Language |
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dc.contributor.author |
Tuan, LA |
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dc.contributor.author |
Ha, QP |
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dc.date.accessioned |
2024-03-09T21:52:46Z |
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dc.date.available |
2024-03-09T21:52:46Z |
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dc.identifier.citation |
Robotica, pp. 1-24 |
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dc.identifier.issn |
0263-5747 |
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dc.identifier.issn |
1469-8668 |
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dc.identifier.uri |
http://hdl.handle.net/10453/176409
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dc.description.abstract |
<jats:title>Abstract</jats:title>
<jats:p>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%).</jats:p> |
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dc.language |
en |
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dc.publisher |
Cambridge University Press (CUP) |
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dc.relation.ispartof |
Robotica |
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dc.relation.isbasedon |
10.1017/s0263574724000328 |
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dc.rights |
info:eu-repo/semantics/embargoedAccess |
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dc.rights |
This article has been published in a revised form in Robotica https://doi.org/10.1017/S0263574724000328. This version is free to view and download for private research and study only. Not for re-distribution or re-use. © copyright holder |
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dc.subject |
0801 Artificial Intelligence and Image Processing, 0906 Electrical and Electronic Engineering, 0913 Mechanical Engineering |
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dc.subject.classification |
Industrial Engineering & Automation |
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dc.subject.classification |
4002 Automotive engineering |
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dc.subject.classification |
4007 Control engineering, mechatronics and robotics |
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dc.subject.classification |
4009 Electronics, sensors and digital hardware |
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dc.title |
Adaptive fractional-order integral fast terminal sliding mode and fault-tolerant control of dual-arm robots |
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dc.type |
Journal Article |
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utslib.for |
0801 Artificial Intelligence and Image Processing |
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utslib.for |
0906 Electrical and Electronic Engineering |
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utslib.for |
0913 Mechanical Engineering |
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pubs.organisational-group |
University of Technology Sydney |
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pubs.organisational-group |
University of Technology Sydney/Faculty of Engineering and Information Technology |
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pubs.organisational-group |
University of Technology Sydney/Strength - CBI - Centre for Built Infrastructure |
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pubs.organisational-group |
University of Technology Sydney/Faculty of Engineering and Information Technology/School of Electrical and Data Engineering |
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utslib.copyright.status |
open_access |
* |
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utslib.copyright.embargo |
2024-09-07T00:00:00+1000Z |
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dc.date.updated |
2024-03-09T21:52:44Z |
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pubs.publication-status |
Published online |
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