An adaptive actuator failure compensation scheme for a cooperative manipulator system with parameter uncertainties

摘要

This paper studies a new fault-tolerant robot control technique, by constructing and evaluating an adaptive actuator failure compensation scheme for control of a cooperative manipulator system with both actuator failure and parameter uncertainties. The control scheme is developed based on adaptive integration of multiple individual failure compensators and direct adaptation of controller parameters. The adaptive failure compensation scheme utilizes actuation redundancy to guarantee desired closed-loop stability and asymptotic output tracking, despite actuator failures whose pattern, time and value are all uncertain. The simulation results of a cooperative manipulator benchmark system are presented to verify the desired control performance.