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An adaptive actuator failure compensation scheme for a cooperative manipulator system

Published online by Cambridge University Press:  07 October 2014

Thummaros Rugthum and
Gang Tao
Thummaros Rugthum
Affiliation:
Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA 22904, USA
Gang Tao*
Affiliation:
Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA 22904, USA
*
*Corresponding author. E-mail: gt9s@virginia.edu
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Summary

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This paper develops a new adaptive actuator failure compensation algorithm for the control of a cooperative robotic system subject to uncertain actuator failures. The benchmark robotic system has two manipulators to balance a rigid platform, and the right-side manipulator contains one actuator and the left-side manipulator has two actuators (one of which may fail during system operation, but it is uncertain how much, when and which actuator may fail). The developed adaptive actuator failure compensation scheme, based on adaptive integration of three individual failure compensators and direct adaptation of controller parameters, is capable of ensuring desired closed-loop stability and asymptotic output tracking, despite the failure uncertainties. Such an adaptive actuator failure compensation method is extended to control of a general cooperative robotic system. Simulation results are shown to verify the desired adaptive failure compensation control performance.

Keywords

AutomationControl of robotic systemsMulti-robot systemsRedundant manipulatorsRobot dynamics

Information

Type
Articles
Information
Robotica , Volume 34 , Issue 7 , July 2016, pp. 1529 - 1552
Copyright
Copyright © Cambridge University Press 2014 

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