Time-Synchronized Fault-Tolerant Control for Robotic Manipulators
This article proposes a time-synchronized fault-tolerant convergence control method for n-degree-of-freedom robotic manipulators. The main challenge lies in driving the tracking errors of all joints to converge simultaneously, especially in the presence of system faults, external disturbances, and m...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-02-01
|
| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/13/3/507 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1850068081947181056 |
|---|---|
| author | Duansong Wang Gang Zhang Rui Chen Jinzhong Zhang Tan Zhang |
| author_facet | Duansong Wang Gang Zhang Rui Chen Jinzhong Zhang Tan Zhang |
| author_sort | Duansong Wang |
| collection | DOAJ |
| description | This article proposes a time-synchronized fault-tolerant convergence control method for n-degree-of-freedom robotic manipulators. The main challenge lies in driving the tracking errors of all joints to converge simultaneously, especially in the presence of system faults, external disturbances, and model uncertainties. We introduce a normalized sign function that guarantees the property of ratio persistence for all joints and plays a crucial role in time-synchronized convergence control. A time-synchronized convergence observer is proposed that not only adopts a time-synchronized convergence control framework but also overcomes the lumped uncertainty term, which includes the system fault components, external disturbances, and system uncertainties. A salient feature of this method is that, regardless of the initial state and various uncertainties, each component of the robot manipulator system can simultaneously converge to an equilibrium point. Simulations conducted on a two-link robotic manipulator demonstrate the notable benefits of the designed time-synchronized control method, as evidenced by the comparative results. |
| format | Article |
| id | doaj-art-80b3834d6a884179b2a7eeb07cffdc17 |
| institution | DOAJ |
| issn | 2227-7390 |
| language | English |
| publishDate | 2025-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj-art-80b3834d6a884179b2a7eeb07cffdc172025-08-20T02:48:09ZengMDPI AGMathematics2227-73902025-02-0113350710.3390/math13030507Time-Synchronized Fault-Tolerant Control for Robotic ManipulatorsDuansong Wang0Gang Zhang1Rui Chen2Jinzhong Zhang3Tan Zhang4College of Electrical and Photo Electronic Engineering, West Anhui University, Lu’an 237012, ChinaCollege of Electrical and Photo Electronic Engineering, West Anhui University, Lu’an 237012, ChinaCollege of Electrical and Photo Electronic Engineering, West Anhui University, Lu’an 237012, ChinaCollege of Electrical and Photo Electronic Engineering, West Anhui University, Lu’an 237012, ChinaCollege of Electrical and Photo Electronic Engineering, West Anhui University, Lu’an 237012, ChinaThis article proposes a time-synchronized fault-tolerant convergence control method for n-degree-of-freedom robotic manipulators. The main challenge lies in driving the tracking errors of all joints to converge simultaneously, especially in the presence of system faults, external disturbances, and model uncertainties. We introduce a normalized sign function that guarantees the property of ratio persistence for all joints and plays a crucial role in time-synchronized convergence control. A time-synchronized convergence observer is proposed that not only adopts a time-synchronized convergence control framework but also overcomes the lumped uncertainty term, which includes the system fault components, external disturbances, and system uncertainties. A salient feature of this method is that, regardless of the initial state and various uncertainties, each component of the robot manipulator system can simultaneously converge to an equilibrium point. Simulations conducted on a two-link robotic manipulator demonstrate the notable benefits of the designed time-synchronized control method, as evidenced by the comparative results.https://www.mdpi.com/2227-7390/13/3/507time-synchronized controlfixed-time controlfault-tolerantrobotic manipulator |
| spellingShingle | Duansong Wang Gang Zhang Rui Chen Jinzhong Zhang Tan Zhang Time-Synchronized Fault-Tolerant Control for Robotic Manipulators Mathematics time-synchronized control fixed-time control fault-tolerant robotic manipulator |
| title | Time-Synchronized Fault-Tolerant Control for Robotic Manipulators |
| title_full | Time-Synchronized Fault-Tolerant Control for Robotic Manipulators |
| title_fullStr | Time-Synchronized Fault-Tolerant Control for Robotic Manipulators |
| title_full_unstemmed | Time-Synchronized Fault-Tolerant Control for Robotic Manipulators |
| title_short | Time-Synchronized Fault-Tolerant Control for Robotic Manipulators |
| title_sort | time synchronized fault tolerant control for robotic manipulators |
| topic | time-synchronized control fixed-time control fault-tolerant robotic manipulator |
| url | https://www.mdpi.com/2227-7390/13/3/507 |
| work_keys_str_mv | AT duansongwang timesynchronizedfaulttolerantcontrolforroboticmanipulators AT gangzhang timesynchronizedfaulttolerantcontrolforroboticmanipulators AT ruichen timesynchronizedfaulttolerantcontrolforroboticmanipulators AT jinzhongzhang timesynchronizedfaulttolerantcontrolforroboticmanipulators AT tanzhang timesynchronizedfaulttolerantcontrolforroboticmanipulators |