Dynamic Structure Adaptive Actuator Failure Compensation Scheme for Robotic Systems

This paper proposes a new adaptive actuator failure compensation scheme with dynamic controller structure. The adaptive control design use the concept of dynamic controller structure to improve the performance of a robotic system by reducing the number of possible actuator failure patterns that a controller needs to consider at any given time. With the decrease of failure patterns, the number of estimated parameters in the system is also reduced; thus, the adaptation of uncertain parameters is more efficient. The dynamic structure adaptive actuator failure compensation scheme improve the transient response of the system while maintains desired closed-loop stability and asymptotic output tracking, despite unknown actuator failures. The simulation results are studied to confirm the control performance.