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Distributed fault-tolerant control of modular and reconfigurable robots with consideration of actuator saturation

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Abstract

A novel decomposition-based distributed robust fault-tolerant control method is proposed for modular and reconfigurable robots based on joint torque sensing. The designed robust controller compensates for both model uncertainties and a class of actuator faults. In addition, the proposed scheme does not require a fault detection and diagnosis module, avoiding time delay associated with it. Furthermore, a radial basis function neural network-based compensation scheme is proposed to deal with the actuator saturation problem, which is especially critical when actuator fault has to be tolerated by the control system. Simulation results have shown the effectiveness of the presented method.

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Acknowledgements

This work is supported by the National Natural Science Foundation of China (Grant Nos. 61374051, 61773075, and 61703055), the Scientific Technological Development Plan Project in Jilin Province of China (Grant Nos. 20170204067GX, 20190103004JH).

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Authors and Affiliations

  1. Department of Control Science and Engineering, Changchun University of Technology, Changchun, China

    Fan Zhou, Keping Liu & Yuanchun Li

  2. Department of Aerospace Engineering, Ryerson University, Toronto, ON, M5B 2K3, Canada

    Fan Zhou & Guangjun Liu

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  1. Fan Zhou
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  2. Keping Liu
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  3. Yuanchun Li
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  4. Guangjun Liu
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Correspondence to Yuanchun Li.

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Zhou, F., Liu, K., Li, Y. et al. Distributed fault-tolerant control of modular and reconfigurable robots with consideration of actuator saturation. Neural Comput & Applic 32, 13591–13604 (2020). https://doi.org/10.1007/s00521-020-04768-z

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  • DOI: https://doi.org/10.1007/s00521-020-04768-z

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