An adaptive actuator failure compensation scheme for a cooperative manipulator system

摘要

SUMMARY This paper develops a new adaptive actuator failure compensation algorithm for the control of a cooperative robotic system subject to uncertain actuator failures. The benchmark robotic system has two manipulators to balance a rigid platform, and the right-side manipulator contains one actuator and the left-side manipulator has two actuators (one of which may fail during system operation, but it is uncertain how much, when and which actuator may fail). The developed adaptive actuator failure compensation scheme, based on adaptive integration of three individual failure compensators and direct adaptation of controller parameters, is capable of ensuring desired closed-loop stability and asymptotic output tracking, despite the failure uncertainties. Such an adaptive actuator failure compensation method is extended to control of a general cooperative robotic system. Simulation results are shown to verify the desired adaptive failure compensation control performance.