Robust Tracking Control of Robot Manipulators With Actuator Faults and Joint Velocity Measurement Uncertainty

• Published in: IEEE/ASME transactions on mechatronics Vol. 25; no. 3; pp. 1354 - 1365
• Main Authors: Xiao, Bing, Cao, Lu, Xu, Shengyuan, Liu, Liang
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.06.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuator faults; Actuators; Adaptive control; Control theory; Error analysis; Faults; Manipulator dynamics; Manipulators; Position measurement; Robot arms; Robot control; robot manipulators; Robots; Robust control; Torque; Tracking control; Trajectory control; trajectory tracking; Uncertainty; Velocity; Velocity measurement; velocity measurement uncertainty
• ISSN: 1083-4435; 1941-014X
• DOI: 10.1109/TMECH.2020.2975117

This article solves the safe trajectory tracking control problem of robot manipulators with actuator faults, uncertain dynamics, and external disturbance. Another key issue met in practical robot engineering, i.e., joint velocity measurement uncertainty is also investigated. A robust control framework is presented. In this approach, a novel reconstruction law is preliminarily developed to estimate velocity measurement uncertainty, while the estimation error is finite-time stable. An adaptive control law is, then, designed by using the joint position, the estimated velocity, and the reconstructed knowledge of velocity measurement uncertainty. The key advantage of this methodology is that actual joint velocity and any prior knowledge of actuator faults are not required. The effectiveness of this proposed scheme is experimentally validated on a real robot arm.