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 language | English |
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Title of host publication | 2016 American Control Conference, ACC 2016 |
Pages | 6018-6023 |
Number of pages | 6 |
ISBN (Electronic) | 9781467386821 |
DOIs | |
State | Published - Jul 28 2016 |
Event | 2016 American Control Conference, ACC 2016 - Boston, United States Duration: Jul 6 2016 → Jul 8 2016 |
Publication series
Name | Proceedings of the American Control Conference |
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Volume | 2016-July |
ISSN (Print) | 0743-1619 |
Conference
Conference | 2016 American Control Conference, ACC 2016 |
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Country/Territory | United States |
City | Boston |
Period | 7/6/16 → 7/8/16 |
Bibliographical note
Publisher Copyright:© 2016 American Automatic Control Council (AACC).
ASJC Scopus subject areas
- Electrical and Electronic Engineering