TY - GEN
T1 - Adaptive Fault-Tolerant Control of Flexible Mobile Manipulator
AU - Xing, Xueyan
AU - Liu, Jinkun
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - An adaptive fault-tolerant control algorithm is developed for a mobile manipulator system in the presence of actuator failures. The control is proposed based on a PDEODE model. Under proposed control laws, it guarantees that the vibration of the flexible manipulator can be restricted with actuation redundancy. Moreover, position regulation of the rigid mobile platform and joint can also be achieved in the case of actuator failures with the proposed control. The stability of the closed-loop mobile manipulator is demonstrated. Illustrative simulation results are carried out for confirming the correctness of the control strategy.
AB - An adaptive fault-tolerant control algorithm is developed for a mobile manipulator system in the presence of actuator failures. The control is proposed based on a PDEODE model. Under proposed control laws, it guarantees that the vibration of the flexible manipulator can be restricted with actuation redundancy. Moreover, position regulation of the rigid mobile platform and joint can also be achieved in the case of actuator failures with the proposed control. The stability of the closed-loop mobile manipulator is demonstrated. Illustrative simulation results are carried out for confirming the correctness of the control strategy.
KW - adaptive fault-tolerant control
KW - flexible mobile manipulator
KW - position regulation
KW - vibration suppression
UR - https://www.scopus.com/pages/publications/85080054114
U2 - 10.1109/CAC48633.2019.8996340
DO - 10.1109/CAC48633.2019.8996340
M3 - 会议稿件
AN - SCOPUS:85080054114
T3 - Proceedings - 2019 Chinese Automation Congress, CAC 2019
SP - 1059
EP - 1064
BT - Proceedings - 2019 Chinese Automation Congress, CAC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 Chinese Automation Congress, CAC 2019
Y2 - 22 November 2019 through 24 November 2019
ER -