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http://dx.doi.org/10.5391/JKIIS.2013.23.1.46

Adaptive Fault Accommodation Control for Flexible-Joint Robots  

Yoo, Sung Jin (School of Electrical and Electronics Engineering, Chung-Ang University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.23, no.1, 2013 , pp. 46-50 More about this Journal
Abstract
This paper proposes an adaptive fault accommodation control approach for flexible-joint (FJ) robots with multiple actuator faults. It is assumed that the value and occurrence time of multiple actuator faults are unknown. An adaptive fault accommodation control scheme with prescribed performance bounds, which characterize the convergence rate and maximum overshoot of tracking errors, is designed to accommodate the actuator faults. From the Lyapunov stability theorem, it is proved that all signals of the closed-loop system are semi-globally uniformly ultimately bounded and tracking errors are preserved within prescribed performance bounds regardless of actuator faults.
Keywords
Fault Accommodation; Flexible-Joint Robots; Adaptive Control; Actuator Faults;
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