A Novel High-Speed Third-Order Sliding Mode Observer for Fault-Tolerant Control Problem of Robot Manipulators

摘要

In this paper, a novel fault-tolerant control tactic for robot manipulator systems using only position measurements is proposed. The proposed algorithm is constructed based on a combination of a nonsingular fast terminal sliding mode control (NFTSMC) and a novel high-speed third-order sliding mode observer (TOSMO). In the first step, the high-speed TOSMO is proposed for the first time to approximate both the system velocity and the lumped unknown input with a faster convergence time compared to the TOSMO. The faster convergence speed is obtained thanks to the linear characteristic of the added elements. In the second step, the NFTSMC is designed based on a nonsingular fast terminal sliding (NFTS) surface and the information obtained from the proposed high-speed TOSMO. Thanks to the combination, the proposed controller–observer tactic provides excellent features, such as a fast convergence time, high tracking precision, chattering phenomenon reduction, robustness against the effects of the lumped unknown input and velocity requirement elimination. Especially, the proposed observer does not only improve the convergence speed of the estimated signals, but also increases the system dynamic response. The system’s finite-time stability is proved using the Lyapunov theory. Finally, to validate the efficiency of the proposed strategy, simulations on a PUMA560 robot manipulator are performed.