Distributed Fault-Tolerant Control of Networked Uncertain Euler–Lagrange Systems Under Actuator Faults

Abstract

This paper investigates the distributed fault-tolerant control problem of networked Euler-Lagrange systems with actuator and communication link faults. An adaptive fault-tolerant cooperative control scheme is proposed to achieve the coordinated tracking control of networked uncertain Lagrange systems on a general directed communication topology, which contains a spanning tree with the root node being the active target system. The proposed algorithm is capable of compensating for the actuator bias fault, the partial loss of effectiveness actuation fault, the communication link fault, the model uncertainty, and the external disturbance simultaneously. The control scheme does not use any fault detection and isolation mechanism to detect, separate, and identify the actuator faults online, which largely reduces the online computation and expedites the responsiveness of the controller. To validate the effectiveness of the proposed method, a test-bed of multiple robot-arm cooperative control system is developed for real-time verification. Experiments on the networked robot-arms are conduced and the results confirm the benefits and the effectiveness of the proposed distributed fault-tolerant control algorithms.

Distributed finite‐time tracking control for multiple uncertain Euler–Lagrange systems with input saturations and error constraints

“…However, it should be noted that the control strategies in [20–23] required the exact knowledge of the system models, which are unknown in many cases. Thus, the distributed tracking control protocols which are model‐independent should be further investigated [24–28]. Chen et al .…”

“…Chen et al . [24] addressed the distributed fault‐tolerant tracking control problem for multiple uncertain EL systems under directed topology. The global tracking errors were proved to be uniformly ultimately bounded.…”

“…[28] addressed the distributed adaptive tracking control problem under both fixed and switching communication topology. The researches in [24–28] were based on parameter linearisation technique. However, in most cases, the model uncertainties are non‐linear and there exist external disturbances which cannot be dealt with by parameter linearisation.…”

Adaptive Sliding Mode Tracking Control for Uncertain Euler-Lagrange System

“…In [17], a low-cost robust adaptive fault-tolerant tracking control algorithm for EL system is presented that ensures uniformly ultimately bounded stable tracking in the absence of precise target information. Chen et al [18] presented a fault-tolerant cooperative control scheme for networked uncertain EL system such that the cooperative tracking of the networked system is achieved even in the presence of actuator faults and communication link faults. Hu et al [19] presented the robust tracking control scheme for EL system with disturbance and multiple actuator faults, which the designed closed-loop system is also shown to be finite-time stable with the reference trajectory followed in finite time.…”

Fault tolerant multivehicle formation control framework with applications in multiquadrotor systems

“…Despite the critical requirement, only a few studies [4][5][6] have been performed. These studies on fault-tolerant formation control are extremely inadequate.…”