Dynamic Structure Adaptive Actuator Failure Compensation Scheme for Robotic Systems

Rugthum, Thummaros

doi:10.1109/iceast.2018.8434490

Cited by 2 publications

(6 citation statements)

References 9 publications

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“…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%

Prescribed Fixed-Time Adaptive Neural Control for Manipulators with Uncertain Dynamics and Actuator Failures

et al. 2023

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In this paper, a fixed-time adaptive neural control scheme is proposed to solve the prescribed tracking problem of robot manipulators in the presence of uncertain dynamics, and stuck-type actuator failures which are unknown in time, pattern, and values. Technically, the combination of neural networks and adaptive control is used to handle the uncertainties in system dynamics, an adaptive compensation mechanism is designed to accommodate the failures occurring in actuators, and also a systematic design procedure based on the prescribed performance bounds is presented to establish the conditional inequality for ensuring fixed-time stability. With our scheme, it can be proved rigorously that the tracking errors in joint space can always be kept within the prescribed bounds, and converge to a small region of zero in a bounded settling time, in addition to the closed-loop signal boundedness. The proposed scheme is validated through simulations.

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Section: Introductionmentioning

confidence: 99%

Prescribed Fixed-Time Adaptive Neural Control for Manipulators with Uncertain Dynamics and Actuator Failures

et al. 2023

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“…Yet, one problem should be noted is that with a complete parametization of failure pattern, the number of estimated parameters would increase exponentially as the number of failure patterns increase, which may severely affect the system transient response. To remove this restriction, in [34], a dynamic controller structure is newly proposed to reduce the number of possible actuator failure patterns such that the adaptation of uncertain parameters can be more efficient. Furthermore, E. F. Kececi et al .…”

Section: Introductionmentioning

confidence: 99%

“…• The separation of uncertain parameters model of actuator failure and the dynamic model is successfully achieved by proposing a novel decoupling-based method, while the two models are coupled in most existing results(e.g. [33], [34]). Subsequently, an adaptive mechanism is developed to cancel the degrading effect caused by actuator failures.…”

Section: Introductionmentioning

confidence: 99%

“…In order to moderate the detrimental and adverse effects of actuator failures on the system, a new adaptive algorithm is proposed to compensate stuck-type failures occurred in actuators. Moreover, by proposing a decoupling method, the uncertain parameter model of actuator failure is successfully separated from the dynamics model while the two models are coupled in most existing results(e.g.[33], [34]). And the stability of the dynamic system and the convergence of the image error are proved by the Lyapunov analysis method.…”

mentioning

confidence: 99%

“…[33], [34]). And the stability of the dynamic system and the convergence of the image error are proved by the Lyapunov analysis method.…”

mentioning

confidence: 99%

See 2 more Smart Citations

Adaptive fault-tolerant visual control of robot manipulators using an uncalibrated camera

Yang

Yuan²,

Lai³

2022

Nonlinear Dyn

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In this paper, we propose an adaptive faulttolerant visual control scheme for robotic manipulators with possible actuator failures in an uncalibrated environment. Most existing visual control approaches for robot system does not take into acount actuator failures, which may prominently affect the transient performance of the system in practice. In order to moderate the detrimental and adverse effects of actuator failures on the system, a new adaptive algorithm is proposed to compensate stuck-type failures occurred in actuators. Moreover, by proposing a decoupling method, the uncertain parameter model of actuator failure is successfully separated from the dynamics model while the two models are coupled in most existing results(e.g.[33], [34]). And the stability of the dynamic system and the convergence of the image error are proved by the Lyapunov analysis method. Finally, the proposed control scheme is applied to simulation model of 3-DOF manipulator, and the effectiveness and stability of the controller is verified by comparing and analysing the tracking performance of the manipulator under different failure parameters.

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Dynamic Structure Adaptive Actuator Failure Compensation Scheme for Robotic Systems

Cited by 2 publications

References 9 publications

Prescribed Fixed-Time Adaptive Neural Control for Manipulators with Uncertain Dynamics and Actuator Failures

Prescribed Fixed-Time Adaptive Neural Control for Manipulators with Uncertain Dynamics and Actuator Failures

Adaptive fault-tolerant visual control of robot manipulators using an uncalibrated camera

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