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Active fault-tolerant control of a Schon̈flies parallel manipulator based on time delay estimation

Published online by Cambridge University Press:  19 April 2021

Pegah Ghaf-Ghanbari,
Mahmood Mazare and
Mostafa TaghizadehOpen the ORCID record for Mostafa Taghizadeh[Opens in a new window]
Pegah Ghaf-Ghanbari
Affiliation:
Faculty of Mechanical and Energy Engineering, Shahid Beheshti University, Tehran, Iran E-mails: pegah.g.ghanbari@gmail.com, m_mazare@sbu.ac.ir
Mahmood Mazare
Affiliation:
Faculty of Mechanical and Energy Engineering, Shahid Beheshti University, Tehran, Iran E-mails: pegah.g.ghanbari@gmail.com, m_mazare@sbu.ac.ir
Mostafa Taghizadeh*
Affiliation:
Faculty of Mechanical and Energy Engineering, Shahid Beheshti University, Tehran, Iran E-mails: pegah.g.ghanbari@gmail.com, m_mazare@sbu.ac.ir
*
*Corresponding author. Email: mo_taghizadeh@sbu.ac.ir
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Abstract

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In this paper, a new hybrid fault-tolerant control (FTC) strategy based on nonsingular fast integral-type terminal sliding mode (NFITSM) and time delay estimation (TDE) is proposed for a Schönflies parallel manipulator. In order to detect, isolate, and accommodate actuator faults, TDE is used as an online fault estimation algorithm. Stability analysis of the closed-loop system is performed using Lyapunov theory. The proposed controller performance is compared with conventional sliding mode and feedback linearization control methods. The obtained results reveal the superiority of the proposed FTC based on TDE and NFITSM.

Keywords

Fault-tolerant control (FTC)Terminal sliding modeTime delay estimation (TDE)Parallel robotSchönflies motion generator

Information

Type
Article
Information
Robotica , Volume 39 , Issue 8 , August 2021, pp. 1518 - 1535
Copyright
© Shahid Beheshti University, 2021. Published by Cambridge University Press

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