Distributed Task-Space Consensus Control of Networked Euler-Lagrange Systems Under Faulty Actuator and Switching Communication Topology

Abstract

This paper addresses an actuator-fault-tolerant controller for task-space consensus of networked Euler- Lagrange systems under time-varying communication delay and switching topology. To account for the discontinuous signals causing by changing topology, we proposed a taskspace reference acceleration based on the signals interchanged intermittently between agents. The velocity reference, obtaining accordingly, is utilized to design a control law for distributed task-space consensus when the actuators are subject to partial- loss-of-effectiveness. Moreover, the consensus control for Euler- Lagrange systems with actuator saturation fault mode is also studied. The stability and convergence of consensus for the networked Euler-Lagrange systems with actuator faults are addressed by the Lyapunov theory and function analysis technique. Numerical examples verify the proposed control schemes' effectiveness and performance with a network of 2- DOF manipulators.