Adaptive Sliding Mode Fault-Tolerant Control of Tendon Driven Continuum Robots using Cosserat Rod Model

摘要

In this paper, an adaptive sliding mode fault-tolerant control scheme is proposed to deal with the possible actuator faults of the tendon driven Continuum robots (CRs). CRs are commonly utilized in the surgery and aerospace field, where a secure and dependable control scheme is demanded. Firstly, the dynamic model of CR is modeled utilizing Cosserat rod theory, and tendons are modeled to drive the CR. Secondly, sliding mode control is used to guarantee robustness performance, and fault-tolerant control is derived with adaptive compensation. The Lyapunov stability theory is used to prove the effectiveness of the scheme. Finally, the simulation results demonstrate the proposed control scheme successfully achieves trajectory tracking control and guarantees asymptotic stability under actuator faults. Compared with the control schemes without fault-tolerant, the proposed scheme can correct the offset caused by actuator fault and ensure the safety of the tendon driven CR.