Adaptive Fault-Tolerant Tracking Control for Multi-Joint Robot Manipulators via Neural Network-Based Synchronization
In this paper, adaptive fault-tolerant control for multi-joint robot manipulators is proposed through the combination of synchronous techniques and neural networks. By using a synchronization technique, the position error at each joint simultaneously approaches zero during convergence due to the con...
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MDPI AG
2024-10-01
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| Online Access: | https://www.mdpi.com/1424-8220/24/21/6837 |
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| author | Quang Dan Le Erfu Yang |
| author_facet | Quang Dan Le Erfu Yang |
| author_sort | Quang Dan Le |
| collection | DOAJ |
| description | In this paper, adaptive fault-tolerant control for multi-joint robot manipulators is proposed through the combination of synchronous techniques and neural networks. By using a synchronization technique, the position error at each joint simultaneously approaches zero during convergence due to the constraints imposed by the synchronization controller. This aspect is particularly important in fault-tolerant control, as it enables the robot to rapidly and effectively reduce the impact of faults, ensuring the performance of the robot when faults occur. Additionally, the neural network technique is used to compensate for uncertainty, disturbances, and faults in the system via online updating. Firstly, novel robust synchronous control for a robot manipulator based on terminal sliding mode control is presented. Subsequently, a combination of the novel synchronous control and neural network is proposed to enhance the fault tolerance of the robot manipulator. Finally, simulation results for a 3-DOF robot manipulator are presented to demonstrate the effectiveness of the proposed controller in comparison to traditional control techniques. |
| format | Article |
| id | doaj-art-943a30f80b9f4c8187c1d6cdbe184de0 |
| institution | Kabale University |
| issn | 1424-8220 |
| language | English |
| publishDate | 2024-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-943a30f80b9f4c8187c1d6cdbe184de02024-11-08T14:41:06ZengMDPI AGSensors1424-82202024-10-012421683710.3390/s24216837Adaptive Fault-Tolerant Tracking Control for Multi-Joint Robot Manipulators via Neural Network-Based SynchronizationQuang Dan Le0Erfu Yang1Robotics and Autonomous Systems Group, Department of Design, Manufacturing and Engineering Management, University of Strathclyde, Glasgow G1 1XJ, UKRobotics and Autonomous Systems Group, Department of Design, Manufacturing and Engineering Management, University of Strathclyde, Glasgow G1 1XJ, UKIn this paper, adaptive fault-tolerant control for multi-joint robot manipulators is proposed through the combination of synchronous techniques and neural networks. By using a synchronization technique, the position error at each joint simultaneously approaches zero during convergence due to the constraints imposed by the synchronization controller. This aspect is particularly important in fault-tolerant control, as it enables the robot to rapidly and effectively reduce the impact of faults, ensuring the performance of the robot when faults occur. Additionally, the neural network technique is used to compensate for uncertainty, disturbances, and faults in the system via online updating. Firstly, novel robust synchronous control for a robot manipulator based on terminal sliding mode control is presented. Subsequently, a combination of the novel synchronous control and neural network is proposed to enhance the fault tolerance of the robot manipulator. Finally, simulation results for a 3-DOF robot manipulator are presented to demonstrate the effectiveness of the proposed controller in comparison to traditional control techniques.https://www.mdpi.com/1424-8220/24/21/6837fault-tolerant controlpassive fault-tolerant controlrobot manipulatoradaptive controlsynchronizationneural network |
| spellingShingle | Quang Dan Le Erfu Yang Adaptive Fault-Tolerant Tracking Control for Multi-Joint Robot Manipulators via Neural Network-Based Synchronization Sensors fault-tolerant control passive fault-tolerant control robot manipulator adaptive control synchronization neural network |
| title | Adaptive Fault-Tolerant Tracking Control for Multi-Joint Robot Manipulators via Neural Network-Based Synchronization |
| title_full | Adaptive Fault-Tolerant Tracking Control for Multi-Joint Robot Manipulators via Neural Network-Based Synchronization |
| title_fullStr | Adaptive Fault-Tolerant Tracking Control for Multi-Joint Robot Manipulators via Neural Network-Based Synchronization |
| title_full_unstemmed | Adaptive Fault-Tolerant Tracking Control for Multi-Joint Robot Manipulators via Neural Network-Based Synchronization |
| title_short | Adaptive Fault-Tolerant Tracking Control for Multi-Joint Robot Manipulators via Neural Network-Based Synchronization |
| title_sort | adaptive fault tolerant tracking control for multi joint robot manipulators via neural network based synchronization |
| topic | fault-tolerant control passive fault-tolerant control robot manipulator adaptive control synchronization neural network |
| url | https://www.mdpi.com/1424-8220/24/21/6837 |
| work_keys_str_mv | AT quangdanle adaptivefaulttoleranttrackingcontrolformultijointrobotmanipulatorsvianeuralnetworkbasedsynchronization AT erfuyang adaptivefaulttoleranttrackingcontrolformultijointrobotmanipulatorsvianeuralnetworkbasedsynchronization |