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All Journal International Journal of Power Electronics and Drive Systems (IJPEDS)
Khaoula Oulidi Omali
Sidi Mohamed Ben Abdellah University
Control & Systems Engineering Electrical & Electronics Engineering

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Fault-tolerant control with high-order sliding mode for manipulator robot Khaoula Oulidi Omali; Mohammed Nabil Kabbaj; Mohammed Benbrahim
International Journal of Power Electronics and Drive Systems (IJPEDS) Vol 13, No 3: September 2022
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijpeds.v13.i3.pp1854-1869

Abstract

The safety of manipulators systems is receiving a lot of attention these days. Faults have the ability to carry out harmful activities that harm equipment, the environment, or persons. As a result, it is critical to detect and diagnose problems as soon as possible, as well as to incorporate fault tolerance to avoid performance deterioration and harmful circumstances. Robust sensor fault detection and isolation (FDI) as well as fault-tolerant control (FTC) for a robotic system are discussed in this work. The goal of this research is to create an FDI method that uses a super-twisting third-order sliding mode (STW-TOSM) observer to estimate residual signals. A suggested system based on a higher-order sliding mode (HOSM) observer/controller approaches is used to accomplish this. In comparison to an active FTC technique, the test results demonstrate high level of performance. Finally, simulation results illustrate the efficacy of the presented techniques.
Co-Authors Mohammed Benbrahim Mohammed Nabil Kabbaj