Abstract
Adaptive compensation control of autonomous robotic systems with uncertain actuator failures is studied in this paper. Autonomous robotic systems are often subject to uncertain actuator failures which can cause performance deterioration. To compensate the effect of such unknown failures, an effective adaptive failure compensation scheme is developed for a general multiple manipulator system model, which guarantees closed-loop stability and asymptotic tracking of a reference output in the presence of system and actuator failure uncertainties. The design and analysis of such an adaptive failure compensation control scheme for a hexapod precision pointing system are presented.
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