Browse > Article

Robust Adaptive Fault-Tolerant Control for Robot Manipulators with Performance Degradation Due to Actuator Failures and Uncertainties  

신진호 (동의대 메카트로닉스공학과)
백운보 (동의대 메카트로닉스공학과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.53, no.3, 2004 , pp. 173-181 More about this Journal
Abstract
In normal robot control systems without any actuator failures, it is assumed that actuator torque coefficients applied at each joint have normally 1's all the time. However, it is more practical that actuator torque coefficients applied at each joint are nonlinear time-varying. In other words, it has to be considered that actuators equipped at joints may fail due to hardware or software faults. In this work, actuator torque coefficients are assumed to have non-zero values at all joints. In the case of an actuator torque coefficient which has a zero value at a joint, it means the complete loss of torque on the joint. This paper doesn't deal with the case. As factors of performance degradation of robots, both actuator failures and uncertainties are considered in this paper at the same time. This paper proposes a robust adaptive fault-tolerant control scheme to maintain the required performance and achieve task completion for robot manipulators with performance degradation due to actuator failures and uncertainties. Simulation results are shown to verify the fault tolerance and robustness of the Proposed control scheme.
Keywords
robot; actuator failures; uncertainties; actuator torque coefficients; robust adaptive fault-tolerant control;
Citations & Related Records
연도 인용수 순위
  • Reference
1 K. N. Groom, A. A. Maciejewski and V. Balakrishnan, 'Real-Time Failure-Tolerant Control of Kinematically Redundant Manipulators,' IEEE Trans. on Robotics and Automation, Vol. 15, No .6, pp. 1109--1116, 1999   DOI   ScienceOn
2 M. W. Spong, 'On the Robust Control of Robot Manipulators,' IEEE Trans. on Automatic Control, Vol. 37, No. 11, pp. 1782-1789, 1992   DOI   ScienceOn
3 J. J. -E. Slotine and W. Li, 'On the Adaptive Control of Robot Manipulators,' Int. J. of Robotics Research, Vol. 6, No. 3, pp. 49-59, 1987   DOI   ScienceOn
4 D. S. Yoo and M. J. Chung, 'A Variable Structure Control with Simple Adaptation Laws for Upper Bounds on the Norm of the Uncertainties,' IEEE Trans. on Robotics and Automation, Vol. 37, No.6, pp. 860--864, 1992   DOI   ScienceOn
5 D. M. Dawson, Z. Qu and F. L. Lewis, 'Hybrid Adaptive-Robust Control for a Robot Manipulator,' Int. J. of Adaptive Control and Signal Processing, Vol. 6, pp. 537--545, 1992   DOI
6 L. C. Fu, 'Robust Adaptive Decentralized Control of Robot Manipulators,' IEEE Trans. on Automatic Control, Vol. 37, No. 1, pp. 106--110, 1992   DOI   ScienceOn
7 K. B. Park, J. H. Shin and J. J. Lee, 'Adaptive Variable Structure Controller with Decreasing Gain for Nonlinear Uncertain Systems,' Electronics Letters, Vol. 32, No. 12, pp. 1145--1147, 1996   DOI   ScienceOn
8 M. L. Visinsky, J. R. Cavallaro and I. D. Walker, 'A Dynamic Fault Tolerance Framework for Remote Robots,' IEEE Trans. on Robotics and Automation, Vol. 11, No.4, pp. 477--490, 1995   DOI   ScienceOn
9 F. L. Lewis, C. T. Abdallah and D. M Dawson, Control of Robot Manipulators, Macmillan Publishing Company, 1993
10 Y. Nakamura, T. Suzuki and M. Koimura, 'Nonlinear Behavior and Control of a Nonholonomic Free-Joint Manipulator,' IEEE Trans. on Robotics and Automation, Vol. 13, No. 6, pp. 853--862, 1997   DOI   ScienceOn
11 J. D. English and A. A. Maciejewski, 'Fault Tolerance for Kinematically Redundant Manipulators: Anticipating Free-Swinging Joint Failures,' IEEE Trans. on Robotics and Automation, Vol. 14, No. 4, pp. 566--575, 1998   DOI   ScienceOn
12 J. H. Shin and J. J. Lee, 'Underactuated Space Manipulators: Analysis and Adaptive Robust Control,' Journal of the Korean Institute of Electrical Engineers (KIEE), Vol. 9, No. 3, pp. 179--189, 1996
13 W. E. Dixon, I. D. Walker, D. M Dawson and J. P. Hartranft, 'Fault Detection for Robot Manipulators with Parametric Uncertainty: A Prediction-Error-Based Approach,' IEEE Trans. on Robotics and Automation, Vol. 16, No.6, pp. 689---699, 2000   DOI   ScienceOn
14 A. T. Vemuri, M. M. Polycarpou and S. A. Diakourtis, 'Neural Network Based Fault Detection in Robotic Manipulators,' IEEE Trans. ai Robotics and Automation, Vol. 14, No.2, pp. 342--348, 1998   DOI   ScienceOn
15 H. Arai and S. Tachi, 'Position Control of a Manipulator with Passive Joints Using Dynamic Coupling,' IEEE Trans. ai Robotics and Automation, Vol. 7, pp. 528--534, 1991   DOI   ScienceOn
16 J. H. Shin, K. B. Park and J. J. Lee, 'Adaptive Robust Control Using Radial Basis Function Networks for Robot Manipulators,' Int. J. of Intelligent Control and Systems, Vol. 3, No. 1, pp. 117--133, 1999
17 D. M. Dawson and Z. Qu, 'On the Global Uniform Ultimate Boundedness of a DCAL Like Robot Controller,' IEEE Trans. of Robotics and Automation, Vol. 8, No.3, pp. 409--413, 1992   DOI   ScienceOn