Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/9812
Title: Adaptive actuator failure compensation for concurrently actuated manipulators
Authors: Keçeci, Emin Faruk
Tang, Xidong
Tao, Gang
Keywords: Actuator failure compensation
Adaptive control design
Concurrently actuated manipulator
Fault tolerance
Stability
Tracking
Issue Date: 2003
Publisher: Elsevier
Abstract: This paper presents an adaptive actuator failure compensation method, which compensates for uncertainties due to unknown actuator failures and system dynamics, for a class of redundant manipulators where some joints concurrently actuated. Physical realization of concurrently actuated manipulators and their advantageous of use have been understood before, but adaptive failure compensation is still an open issue. In this research, failure formulation, controller structure and adaptive update rules for handling uncertainties from both the system dynamics and the failures are studied. The system stability is shown by a modified Lyapunov. Simulation results show the effectiveness of the proposed adaptive failure compensation control design.
URI: https://doi.org/10.1016/S1474-6670(17)36523-0
https://hdl.handle.net/9812
ISSN: 1474-6670
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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