Decentralized fault tolerant control for reconfigurable modular robots

Abstract

A passive decentralized fault tolerant control scheme is proposed for tolerating actuator degradation at each joint module.The fault tolerance is achieved at each joint module without requiring sub-dynamics or information about the other modules.Both indirect and direct adaptive controllers are designed for each joint module.All adaptive algorithms in the subsystem controller are derived from the sense of Lyapunov stability analysis,so that resulting closed-loop system is stable and the H∞ tracking performance is guaranteed.The simulation results show the effectiveness of the proposed scheme.