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.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
