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research-article

Robust fault tolerant optimal predictive control of hybrid actuators with time‐varying delay for industrial robot arm

Authors:

Abdelmalek Zahaf,

Sofiane Bououden,

Mohammed Chadli,

Mohamed ChemachemaAuthors Info & Claims

Asian Journal of Control, Volume 24, Issue 1

Pages 1 - 15

https://doi.org/10.1002/asjc.2444

Published: 06 January 2022 Publication History

Abstract

This paper presents a robust hybrid fault‐tolerant optimal predictive control (HFTPC), for an industrial robot arm under hybrid (electric and pneumatic) actuator faults and/or varying time‐delays. Based on the error dynamics, estimated states, and a predictive controller, a new state feedback control law is proposed and implemented for the reformulation of the optimal control problem of a nonlinear faulty hybrid actuator system based on predictive control via linear matrix inequalities (LMIs). First, a robust MPC scheme is performed in which the future control sequence is used to compensate the varying time‐delays. Then, a robust stable hybrid fault tolerant predivtive control is implemented to handle actuators faults to effect robust trajectory tracking. In fact, the stability of hybrid systems based on the proposed control scheme is a very sensitive criterion. Therefore, stability conditions are required for controlling the industrial arm under faulty hybrid (electric and pneumatic) actuator, based on the Lyapunov‐Krasovskii (L‐K) theory, less conservative stable conditions in terms of LMIs are given and used to ensure the asymptotically robust stability of closed‐loop constrained system that dependent delay‐range. To highlight the robustness and effectiveness of the proposed approach, a simulation study of an industrial robot arm example is proved, where the results showed the prompt and the accuracy of the proposed scheme.

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Cited By

He ZJia SZhu X(2024)Improved Harmony Search Genetic Algorithm for Optimizing Robot Arm ControllersProceedings of the International Conference on Image Processing, Machine Learning and Pattern Recognition10.1145/3700906.3700993(543-547)Online publication date: 13-Sep-2024
https://dl.acm.org/doi/10.1145/3700906.3700993
Abdul‐Jaleel NShaker M(2024)Robust integration of fault estimation and sliding mode fault‐tolerant control for interconnected systems against sensor faultAsian Journal of Control10.1002/asjc.322926:2(1017-1036)Online publication date: 17-Mar-2024
https://dl.acm.org/doi/10.1002/asjc.3229
Castellano-Quero MCastillo-López MFernández-Madrigal JArévalo-Espejo VVoos HGarcía-Cerezo A(2023)A multidimensional Bayesian architecture for real-time anomaly detection and recovery in mobile robot sensory systemsEngineering Applications of Artificial Intelligence10.1016/j.engappai.2023.106673125:COnline publication date: 1-Oct-2023
https://dl.acm.org/doi/10.1016/j.engappai.2023.106673
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Information

Published In

cover image Asian Journal of Control

Asian Journal of Control Volume 24, Issue 1

January 2022

498 pages

ISSN:1561-8625

EISSN:1934-6093

DOI:10.1002/asjc.v24.1

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© 2020 Chinese Automatic Control Society and John Wiley & Sons Australia, Ltd.

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John Wiley & Sons, Inc.

United States

Publication History

Published: 06 January 2022

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Cited By

He ZJia SZhu X(2024)Improved Harmony Search Genetic Algorithm for Optimizing Robot Arm ControllersProceedings of the International Conference on Image Processing, Machine Learning and Pattern Recognition10.1145/3700906.3700993(543-547)Online publication date: 13-Sep-2024
https://dl.acm.org/doi/10.1145/3700906.3700993
Abdul‐Jaleel NShaker M(2024)Robust integration of fault estimation and sliding mode fault‐tolerant control for interconnected systems against sensor faultAsian Journal of Control10.1002/asjc.322926:2(1017-1036)Online publication date: 17-Mar-2024
https://dl.acm.org/doi/10.1002/asjc.3229
Castellano-Quero MCastillo-López MFernández-Madrigal JArévalo-Espejo VVoos HGarcía-Cerezo A(2023)A multidimensional Bayesian architecture for real-time anomaly detection and recovery in mobile robot sensory systemsEngineering Applications of Artificial Intelligence10.1016/j.engappai.2023.106673125:COnline publication date: 1-Oct-2023
https://dl.acm.org/doi/10.1016/j.engappai.2023.106673
Li LYao L(2023)Rational entropy‐based fuzzy fault tolerant control for descriptor stochastic distribution networked control systems with packet dropoutAsian Journal of Control10.1002/asjc.306625:5(3805-3814)Online publication date: 4-Sep-2023
https://dl.acm.org/doi/10.1002/asjc.3066
Vieira LSilva F(2023)Vertical channel stabilization of barometer‐aided inertial navigation systems by optimal controlAsian Journal of Control10.1002/asjc.305825:5(3395-3411)Online publication date: 4-Sep-2023
https://dl.acm.org/doi/10.1002/asjc.3058
Zhang YFang LSong TZhang M(2023)Adaptive non‐singular fast terminal sliding mode based on prescribed performance for robot manipulatorsAsian Journal of Control10.1002/asjc.303325:4(3253-3268)Online publication date: 2-Jul-2023
https://dl.acm.org/doi/10.1002/asjc.3033

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