Please use this identifier to cite or link to this item:
Title: Adaptive actuator failure compensation for cooperating multiple manipulator systems
Authors: Keçeci, Emin Faruk
Tang, Xidong
Tao, Gang
Keywords: Actuator failure compensation
Adaptive control
Cooperating multiple manipulators
Fault tolerance
Task space control
Issue Date: 2003
Publisher: Elsevier
Abstract: This paper presents adaptive actuator failure compensation for a cooperating multiple manipulator system with uncertain actuator failures in the task space. Advantages of designing control schemes in task spaces are emphasized, applications of task space control in robotics are discussed and a short review on control algorithms for cooperating multiple manipulator systems is given. Dynamic equations of motion of the multiple manipulator system in the task space are derived, and the adaptive actuator failure compensation problem is formulated. A compensation controller structure is proposed, for which adaptive parameter update laws are developed. The adaptive control scheme is able to compensate for the uncertainties arising from both the system parameters and the actuator failures. Based on Lyapunov stability analysis, the closed-loop signal boundedness and the convergence of the tracking error to zero are ensured. © 2003 International Federation of Automatic Control.
ISSN: 1474-6670
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

Files in This Item:
File SizeFormat 
1-s2.0-S1474667017365242-main.pdf676.32 kBAdobe PDFView/Open
Show full item record

CORE Recommender

Page view(s)

checked on May 22, 2023


checked on May 22, 2023

Google ScholarTM



Items in GCRIS Repository are protected by copyright, with all rights reserved, unless otherwise indicated.