Nearly optimal fault-tolerant constrained tracking for multi-axis servo system via practical terminal sliding mode and adaptive dynamic programming

Hanlin Dong, Zhaoke Ning, Zhiqiang Ma

Research output: Contribution to journalArticlepeer-review

3 Scopus citations

Abstract

In this paper, a nearly optimal tracking control is proposed for n-links robotic manipulators subject to parameter uncertainties, time-profile failures, and input saturation constraints. Firstly, the practical terminal sliding-mode (PTSM) manifold with a linear additional term is proposed to combine the system states related to joint rotation, such that the controlled states quickly fall into a tiny neighborhood of the equilibrium once they reach the PTSM manifold. Secondly, a nearly optimal sliding-mode reaching law is designed by using the adaptive dynamic programming (ADP) technique. Benefiting from a non-quadratic positive defined mapping of the proposed performance index, which relates to the derivative of the sliding-mode function, reduced-order system dynamics can be constrained to a desired region. For the bounded actuator fault caused by various inducements such as the power supply fluctuation and the wear of parts, a radial basis function neural network (RBFNN) is introduced to compensate for this, and the input saturation constraints of the controlled plant are also compensated at the same time. Innovatively, the node weights of RBFNN are updated by the critic network of the ADP framework, such that the integrity of the proposed control strategy is improved. Simulations verify the main conclusions.

Original languageEnglish
Pages (from-to)308-318
Number of pages11
JournalISA Transactions
Volume144
DOIs
StatePublished - Jan 2024

Keywords

  • Adaptive dynamic programming (ADP)
  • Fault-tolerant control (FTC)
  • Input saturation constraints
  • Multi-axis servo system
  • Practical terminal sliding-mode (PTSM) control
  • Robotic manipulator

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