Constrained and distributed adaptive fault-compensation for synchronising a network of multi-robot manipulators: a Barrier Lyapunov function-based approach
Amir Naderolasli · International Journal of Automation and Control · 2025
In this paper, a constrained and distributed adaptive fault-compensation is proposed for synchronising a network of multi-robot manipulators in the presence of parameter uncertainties, actuator faults and the output state constraints. The actuator faults contain some inputs where their values are unknown and time-varying which lead to the undesirable performance of actuators and even system instability. An adaptive approximation law is designed to estimate the actuator faults in the constrained and distributed adaptive fault-compensation without limitations on the initial conditions. The graph theory has been utilised to communicate a network of multi-robot manipulators in which the minimum spanning tree of this graph is obtained through the proposed Kruskal approach. To cope the limitations of required sensors of multi-robot manipulators, an asymmetric time-varying barrier Lyapunov function (BLF) is utilised to constrain the trajectory tracking errors due to these restrictions while the unknown faults occur in the actuators of robot manipulators.