An adaptive actuator failure compensation scheme for a cooperative manipulator system

Abstract

This paper develops a new adaptive actuator failure compensation algorithm for control of a cooperative robotic system subject to uncertain actuator failures. The developed adaptive control scheme, based on adaptive integration of multiple 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 control performance.