2014
DOI: 10.1017/s0263574714002434
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An adaptive actuator failure compensation scheme for a cooperative manipulator system

Abstract: SUMMARYThis 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… Show more

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Cited by 10 publications
(6 citation statements)
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“…There are two main research areas related to the topic of this article: adaptive control of robot manipulators, 2,3,7,9,21,32 and fault-tolerant control of dynamic systems with applications to robotic systems. 12,15,24,25,27,30,31 For the second area, most work was done for single manipulator system, and in Reference 31 adaptive actuator failure compensation is studied for a cooperative manipulator system with known parameters of its dynamics.…”
Section: Control Objectivementioning
confidence: 99%
See 1 more Smart Citation
“…There are two main research areas related to the topic of this article: adaptive control of robot manipulators, 2,3,7,9,21,32 and fault-tolerant control of dynamic systems with applications to robotic systems. 12,15,24,25,27,30,31 For the second area, most work was done for single manipulator system, and in Reference 31 adaptive actuator failure compensation is studied for a cooperative manipulator system with known parameters of its dynamics.…”
Section: Control Objectivementioning
confidence: 99%
“…In References 28 and 29, the initial concept of developing an actuator failure compensation scheme that is capable of immediate adaptation for a larger class of nonlinear systems is introduced. In our recent study, 30 the concept is further explored for a robotic system. However, the controller designs in previous studies need the precise information of the parameters of the system dynamics.…”
Section: Introductionmentioning
confidence: 99%
“…For nonlinear systems, adaptive fault-tolerant controllers based on reverse iteration have been developed in [32][33][34]. In the context of fault-tolerant robot control, significant progress has been made [35][36][37]. In [35], a novel controller for cooperative robot systems is proposed, combining multiple individual fault compensators with adaptive control techniques.…”
Section: Introductionmentioning
confidence: 99%
“…On the one hand, large-scale cooperative systems have gained popularity thanks to their reliability, fault tolerance, and ability to perform tasks in a faster and more efficient way compared to stand-alone ones. Some examples include cooperative multi-robot systems for object transportation [4], cooperative manipulators [5], and cooperative robotic vehicles used especially in rescue missions [6]. On the other hand, concepts of distributed micro-motion systems have also been proposed [7].…”
Section: Introductionmentioning
confidence: 99%