Backstepping-based fault-tolerant control of a robotic manipulator actuated by shape memory alloy
Publish place: The 32nd annual international conference of the Iranian Society of Mechanical Engineers
Publish Year: 1403
نوع سند: مقاله کنفرانسی
زبان: English
View: 11
This Paper With 6 Page And PDF Format Ready To Download
- Certificate
- من نویسنده این مقاله هستم
استخراج به نرم افزارهای پژوهشی:
شناسه ملی سند علمی:
ISME32_314
تاریخ نمایه سازی: 15 تیر 1403
Abstract:
This study focuses on the practical implementation of a passive fault-tolerant controller designed for a robotic manipulator under the actuation of shape memory alloy (SMA). The nonlinear behavior of SMA, due to hysteresis effects, brings complexity to the mathematical model of the robotic system, resulting in an increase in its degree of freedom. To address this issue, a reduced-order model is employed for designing the controller. In the design of the control method, a backstepping controller is initially developed for the manipulator actuated by SMA. However, it was observed that the performance of the proposed control is reduced in the presence of sudden faults. To ensure that the robotic system can continue to operate effectively even in the presence of faults, a passive fault-tolerant control strategy based on backstepping was introduced to handle additive and multiplicative faults occurring in the robotic manipulator. The experimental results demonstrate the improved performance of the proposed fault-tolerant controller in the presence of faults.
Keywords:
Passive fault tolerant control , Robotic manipulator , Shape memory alloy , Backstepping controller.
Authors
Mohammad Mohammadi Shahir
Mechanical Engineering, Sahand University of Technology, Tabriz
Mehdi Mirzaei
Mechanical Engineering, Sahand University of Technology, Tabriz
Somayeh Jamshidi
Mechanical Engineering, Sahand University of Technology, Tabriz
Sadra Rafatnia
Mechanical Engineering, Sahand University of Technology, Tabriz
Zahra Ahangari Sisi
Mechanical Engineering, Sahand University of Technology, Tabriz