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The operation of the robot manipulator may be subject to unexpected errors that affect its performance, particularly model errors and actuator faults. To mitigate these faults and ensure the robot's performance, we propose a hybrid fault-tolerant controller for a 2-degree-of-freedom (2DOF) robot, combining model-free control (MFC) and an intelligent PID (iPID) controller. This controller incorporates a fault observer to estimate fault values in real-time. Control laws are developed using mathematical analysis and Lyapunov stability theory to estimate and compensate for faults in real-time. The controller's performance is validated through Matlab-Simulink simulations, demonstrating significant improvements in efficiency and robustness compared to traditional PID controllers.

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Nonlinear Observer-Based Fault-Tolerant Control of Trajectory Tracking for 2DOF Robot Using Intelligent PID Controller

  • 会议论文

  • 发表日期：

    2025年

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  • Dung Cao Nguyen Tien,
  • Phuong Ho Sy,
  • Du Phan Van,
  • Tu Duong Dinh,
  • Chuong Le Van,
  • Anh Mai The,
  • Son Dang Thai,
  • Nam Dinh Van,
  • Vy Phan Van

摘要

The operation of the robot manipulator may be subject to unexpected errors that affect its performance, particularly model errors and actuator faults. To mitigate these faults and ensure the robot's performance, we propose a hybrid fault-tolerant controller for a 2-degree-of-freedom (2DOF) robot, combining model-free control (MFC) and an intelligent PID (iPID) controller. This controller incorporates a fault observer to estimate fault values in real-time. Control laws are developed using mathematical analysis and Lyapunov stability theory to estimate and compensate for faults in real-time. The controller's performance is validated through Matlab-Simulink simulations, demonstrating significant improvements in efficiency and robustness compared to traditional PID controllers.