Abstract
This paper investigates the trajectory tracking problem of rigid robot manipulators with unknown dynamics and actuator failures. The goal is to achieve desirable tracking performance with a simple and low-cost control strategy. By introducing a new form of parameter estimation error, together with an error transformation, a robust adaptive and fault-tolerant control scheme is developed without the need for fault information nor precise robotic mathematical model. It is shown that, with the proposed control, the tracking error is ensured to converge to an adjustable residual set within prescribed finite time at a user pre-assignable decay rate. The appealing feature of the developed control also lies in its simplicity in structure (i.e. PID form) and effectiveness in dealing with modelling uncertainties as well as actuation faults.
| Original language | English |
|---|---|
| Pages (from-to) | 377-386 |
| Number of pages | 10 |
| Journal | International Journal of Control |
| Volume | 93 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - 3 Mar 2020 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:© 2018, © 2018 Informa UK Limited, trading as Taylor & Francis Group.
Funding
This work was supported by Natural Science Foundation of China [grant number 61773081]; the Technology Transformation Program of Chongqing Higher Education University [grant number KJZH17102]; and the Graduate Scientific Research and Innovation Foundation of Chongqing [grant number CYB17048].
Keywords
- accelerated adaptive control
- actuator failure
- guaranteed performance
- Robot manipulators