sliding mode control

fault tolerant

robot manipulators

adaptive fuzzy

variable structure

fuzzy adaptive

external disturbances

disturbance rejection

robotic manipulators

IEEE Transactions on Fuzzy Systems

This article develops a new strategy for robust fault-tolerant control (FTC) of robot manipulators using an adaptive fuzzy integral sliding-mode control (ISMC) and a disturbance observer (DO). First, an ISMC is developed for the FTC system. The major features of the approach are discussed. Then, to enhance the performance of the system, a fuzzy logic system approximation and a DO are introduced to approximate the unknown nonlinear terms, which include the model uncertainty and fault components, and to estimate the compounded disturbance and then are integrated into the ISMC. Next, a switching term based on an adaptive two-layer supertwisting algorithm is designed to compensate the disturbance estimated error and guarantee stability and convergence of the whole system. The nominal controller of the ISMC is reconstructed using a backstepping control technique to achieve the stability for the nominal system based on the Lyapunov criterion. The computer simulation results demonstrate the effectiveness of the proposed approach.

Adaptive Fuzzy Integral Sliding-Mode Control for Robust Fault-Tolerant Control of Robot Manipulators With Disturbance Observer