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Adaptive Actuator Failure Compensation Control of Robotic Systems With Uncertainties

Rugthum, Thummaros
Format
Thesis/Dissertation; Online
Author
Rugthum, Thummaros
Advisor
Tao, Gang
Abstract
This research develops an adaptive actuator failure compensation framework of robotic systems with parameter uncertainties in addition to actuator failures. The research shows a complete design methodology for developing an actuator failure compensation scheme for robotic systems. The adaptive control design uses an integration of multiple individual failure compensators, which utilizes existing control techniques such as the backstepping control design. With the direct adaptation based on the Lyapunov technique to handle uncertainties in the system, the adaptive actuator failure compensation framework guarantees desired closed-loop stability and asymptotic output tracking, despite actuator failures whose patterns, times and values are all unknown. Simulation results are presented to verify the desired adaptive actuator failure compensation control performances for multiple types of robotic systems from the theoretical cooperative manipulator benchmark system to a more realistic application such as the landing of a helicopter with robotic legs.
Language
English
Published
University of Virginia, Department of Electrical Engineering, PHD (Doctor of Philosophy), 2017
Published Date
2017-05-05
Degree
PHD (Doctor of Philosophy)
Collection
Libra ETD Repository
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