An Fault-tolerant Control Approach for Event-triggered Consensus of Multiple Robotic Manipulators with Switching Topologies
Yunji Li, Hao Luo, Hao Wang · IECON 2022 – 48th Annual Conference of the IEEE Industrial Electronics Society · 2022
A new fault-tolerant controller is designed in this paper, which ensures the event-triggered leader-following consensus of multiple robotic manipulators subject to switching topologies. A Markov distributed sequence with a known probability transition matrix is employed to describe the switching communication topologies of multiple robotic manipulators. The investigated actuator fault model contains both constant and time-varying faults. Also, the norm-bounded conditions are utilized to denote the manipulators nonlinearities and additive noises. Furthermore, a set of output-based control gains are explicitly characterized via ensuring mean-square stability on dynamics of consensus errors. Finally, simulation results illustrate the designed consensus protocol can compensate actuator failure effectively.