Adaptive finite-time tracking control for joint position constrained robot manipulators with actuator faults

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9 Scopus citations

Abstract

In this work, we propose a novel adaptive fault tolerant control scheme to address the finite-time position tracking control problem for a class of robot manipulators with joint position constraints and actuator faults. Backstepping design with a tan-type Barrier Lyapunov Function and a new structure of stabilizing function is presented. Through rigorous analysis, we show that despite the potential multiplicative and additive actuator faults, the position tracking error can converge into a small neighborhood of zero within finite time, while not violating the constraint requirement on the joint position vector. All closed loop signals are bounded during operation. A simulation study further demonstrates the efficacy of the proposed scheme.

Original languageEnglish
Title of host publication2016 American Control Conference, ACC 2016
Pages6018-6023
Number of pages6
ISBN (Electronic)9781467386821
DOIs
StatePublished - Jul 28 2016
Event2016 American Control Conference, ACC 2016 - Boston, United States
Duration: Jul 6 2016Jul 8 2016

Publication series

NameProceedings of the American Control Conference
Volume2016-July
ISSN (Print)0743-1619

Conference

Conference2016 American Control Conference, ACC 2016
Country/TerritoryUnited States
CityBoston
Period7/6/167/8/16

Bibliographical note

Publisher Copyright:
© 2016 American Automatic Control Council (AACC).

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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