Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/2477
Title: Adaptive actuator failure compensation for redundant manipulators
Authors: Keçeci, Emin Faruk
Tang, Xidong
Tao, Gang
Keçeci, Emin Faruk
Izmir Institute of Technology. Mechanical Engineering
Keywords: Adaptive control systems
Actuator failure compensation
Redundant manipulator failure compensation
Uncertain systems
Physical realizations
Issue Date: Jan-2009
Publisher: Cambridge University Press
Source: Keçeci, E. F., Tang, X., and Tao, G. (2009). Adaptive actuator failure compensation for redundant manipulators. Robotica, 27(1), 19-28. doi:10.1017/S0263574708004487
Abstract: This paper presents an adaptive actuator failure compensation method, which compensates for uncertainties due to unknown actuator failures for redundant manipulator systems. The method is first developed for manipulators whose joints are concurrently actuated. While physical realization of concurrently actuated manipulators and the advantages of their use have been understood before, in this paper failure modeling, controller structure, and adaptive update rules for handling uncertainties from the actuator failures are studied. The adaptive actuator failure compensation method is then expanded for a cooperating multiple manipulator system with uncertain actuator failures. Dynamic equations of such a multiple manipulator system in the task space are derived and the adaptive actuator failure compensation problem is formulated in the task space, for which a compensation controller structure is proposed with stable adaptive parameter update laws. The adaptive control scheme is able to compensate for the uncertainties of system parameters and actuator failures in a more general sense. For both cases, closed-loop system stability and asymptotic tracking are proved, despite uncertain system failures.
URI: http://doi.org/10.1017/S0263574708004487
http://hdl.handle.net/11147/2477
ISSN: 0263-5747
0263-5747
1469-8668
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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