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

Xu Jin

doi:10.1109/ACC.2016.7526614

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

Xu Jin

Mechanical and Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

10 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 language	English
Title of host publication	2016 American Control Conference, ACC 2016
Pages	6018-6023
Number of pages	6
ISBN (Electronic)	9781467386821
DOIs	https://doi.org/10.1109/ACC.2016.7526614
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
Volume	2016-July
ISSN (Print)	0743-1619

Conference

Conference	2016 American Control Conference, ACC 2016
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

Access to Document

10.1109/ACC.2016.7526614

Cite this

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title = "Adaptive finite-time tracking control for joint position constrained robot manipulators with actuator faults",

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.",

author = "Xu Jin",

note = "Publisher Copyright: {\textcopyright} 2016 American Automatic Control Council (AACC).; 2016 American Control Conference, ACC 2016 ; Conference date: 06-07-2016 Through 08-07-2016",

year = "2016",

month = jul,

day = "28",

doi = "10.1109/ACC.2016.7526614",

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Jin, X 2016, Adaptive finite-time tracking control for joint position constrained robot manipulators with actuator faults. in 2016 American Control Conference, ACC 2016., 7526614, Proceedings of the American Control Conference, vol. 2016-July, pp. 6018-6023, 2016 American Control Conference, ACC 2016, Boston, United States, 7/6/16. https://doi.org/10.1109/ACC.2016.7526614

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PY - 2016/7/28

Y1 - 2016/7/28

N2 - 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.

AB - 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.

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M3 - Conference contribution

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BT - 2016 American Control Conference, ACC 2016

T2 - 2016 American Control Conference, ACC 2016

Y2 - 6 July 2016 through 8 July 2016

ER -

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

Abstract

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