Adaptive Fault-Tolerant Control of Mobile Robots with Fractional-Order Exponential Super-Twisting Sliding Mode
Industrial mobile robots easily experience actuator loss of some effectiveness and additive bias faults due to the working scenarios, resulting in unexpected performance degradation. This article proposes a novel adaptive fault-tolerant control (FTC) strategy for nonholonomic mobile robot systems su...
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| Language: | English |
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MDPI AG
2024-10-01
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| Series: | Fractal and Fractional |
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| Online Access: | https://www.mdpi.com/2504-3110/8/10/612 |
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| author | Hao Wu Shuting Wang Yuanlong Xie Hu Li |
| author_facet | Hao Wu Shuting Wang Yuanlong Xie Hu Li |
| author_sort | Hao Wu |
| collection | DOAJ |
| description | Industrial mobile robots easily experience actuator loss of some effectiveness and additive bias faults due to the working scenarios, resulting in unexpected performance degradation. This article proposes a novel adaptive fault-tolerant control (FTC) strategy for nonholonomic mobile robot systems subject to simultaneous actuator lock-in-place (LIP) and partial loss-of-effectiveness (LOE) faults. First, a nominal fractional-order sliding mode controller based on the designed exponential super-twisting reaching law is investigated to reduce the reaching phase time and eliminate the chattering. To address the time-varying LIP faults and uncertainties, a novel barrier function (BF)-based gain is explored to assist the super-twisting law. An estimator is designed to estimate the lower bound of the time-varying partial LOE fault coefficients, thus without requiring the boundary information of faults that is commonly requested in traditional FTC schemes. Combined with the nominal controller clubbed with BF and estimator-based LOE fault compensation term, the fault-tolerant controller is finally constructed. The proposed FTC scheme achieves fast convergence and the sliding variables can be confined in a predetermined neighborhood of the sliding manifold under actuator faults. The results show that the proposed controller has superior tracking performance under faulty conditions compared with other state-of-the-art adaptive FTC approaches. |
| format | Article |
| id | doaj-art-e83d54a016f14e06b8b76a0362dfd5cb |
| institution | OA Journals |
| issn | 2504-3110 |
| language | English |
| publishDate | 2024-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Fractal and Fractional |
| spelling | doaj-art-e83d54a016f14e06b8b76a0362dfd5cb2025-08-20T02:11:09ZengMDPI AGFractal and Fractional2504-31102024-10-0181061210.3390/fractalfract8100612Adaptive Fault-Tolerant Control of Mobile Robots with Fractional-Order Exponential Super-Twisting Sliding ModeHao Wu0Shuting Wang1Yuanlong Xie2Hu Li3School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaSchool of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, ChinaIndustrial mobile robots easily experience actuator loss of some effectiveness and additive bias faults due to the working scenarios, resulting in unexpected performance degradation. This article proposes a novel adaptive fault-tolerant control (FTC) strategy for nonholonomic mobile robot systems subject to simultaneous actuator lock-in-place (LIP) and partial loss-of-effectiveness (LOE) faults. First, a nominal fractional-order sliding mode controller based on the designed exponential super-twisting reaching law is investigated to reduce the reaching phase time and eliminate the chattering. To address the time-varying LIP faults and uncertainties, a novel barrier function (BF)-based gain is explored to assist the super-twisting law. An estimator is designed to estimate the lower bound of the time-varying partial LOE fault coefficients, thus without requiring the boundary information of faults that is commonly requested in traditional FTC schemes. Combined with the nominal controller clubbed with BF and estimator-based LOE fault compensation term, the fault-tolerant controller is finally constructed. The proposed FTC scheme achieves fast convergence and the sliding variables can be confined in a predetermined neighborhood of the sliding manifold under actuator faults. The results show that the proposed controller has superior tracking performance under faulty conditions compared with other state-of-the-art adaptive FTC approaches.https://www.mdpi.com/2504-3110/8/10/612adaptive fault-tolerant control (FTC)exponential super-twisting reaching lawfractional-order sliding modelock-in-place (LIP)mobile robot partial loss-of-effectiveness (LOE) |
| spellingShingle | Hao Wu Shuting Wang Yuanlong Xie Hu Li Adaptive Fault-Tolerant Control of Mobile Robots with Fractional-Order Exponential Super-Twisting Sliding Mode Fractal and Fractional adaptive fault-tolerant control (FTC) exponential super-twisting reaching law fractional-order sliding mode lock-in-place (LIP) mobile robot partial loss-of-effectiveness (LOE) |
| title | Adaptive Fault-Tolerant Control of Mobile Robots with Fractional-Order Exponential Super-Twisting Sliding Mode |
| title_full | Adaptive Fault-Tolerant Control of Mobile Robots with Fractional-Order Exponential Super-Twisting Sliding Mode |
| title_fullStr | Adaptive Fault-Tolerant Control of Mobile Robots with Fractional-Order Exponential Super-Twisting Sliding Mode |
| title_full_unstemmed | Adaptive Fault-Tolerant Control of Mobile Robots with Fractional-Order Exponential Super-Twisting Sliding Mode |
| title_short | Adaptive Fault-Tolerant Control of Mobile Robots with Fractional-Order Exponential Super-Twisting Sliding Mode |
| title_sort | adaptive fault tolerant control of mobile robots with fractional order exponential super twisting sliding mode |
| topic | adaptive fault-tolerant control (FTC) exponential super-twisting reaching law fractional-order sliding mode lock-in-place (LIP) mobile robot partial loss-of-effectiveness (LOE) |
| url | https://www.mdpi.com/2504-3110/8/10/612 |
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