The importance of controlling robot manipulators is undeniable. However, faults in these systems can significantly impact the workspace environment and personal safety. To address these challenges, a new adaptive approach has been proposed that easily adapts to a faulty actuator while precisely tracking its desired position. The virtual decomposition control (VDC) method decomposes the robot into subsystems, each with its sub-controller, while ensuring the overall system remains stable. Meanwhile, time delay estimation (TDE) is used to estimate unknown and uncertain parameters. A co-simulation was conducted to test the TD-VDC method on a 6 DoFs robot, which becomes underactuated during its running. The results of the root main square error of the proposed controller were lower of 6% than those of sliding mode control based on partial feedback linearization control (SMC-PFLC), which proves the proposal's effectiveness and efficiency.
Collaboration network of the authors
9 authors ·
17 co-authorship links
· 7 across different organisations
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Sidi Mohamed Ben Abdellah University
Mohammed V University
Université Ibn-Tofail
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