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Published on: November 6, 2015
Robust fault-tolerant control for a biped robot using a recurrent cerebellar model articulation controller.
Chih-Min Lin1, Chiu-Hsiung Chen
1Department of Electrical Engineering, Yuan Ze University, Jhongli City 32026, Taiwan, R.O.C. cml@saturn.yzu.edu.tw
Summary
This study introduces a fault-tolerant control (FTC) system using a recurrent cerebellar model articulation controller (RCMAC) to fix nonlinear faults in biped robots. The RCMAC-based FTC (RCFTC) system effectively estimates and compensates for faults, ensuring stable robot control.
Area of Science:
- Robotics
- Control Systems Engineering
- Artificial Intelligence
Background:
- Biped robots are susceptible to nonlinear faults and modeling uncertainties.
- Existing fault-tolerant control (FTC) methods may struggle with complex nonlinearities.
Purpose of the Study:
- To design and investigate a novel recurrent cerebellar model articulation controller (RCMAC)-based FTC (RCFTC) system.
- To address nonlinear faults and modeling errors in biped robots.
Main Methods:
- Developed an RCFTC scheme with two modules: online fault estimation and a computed torque/robust FTC controller.
- Employed RCMAC for approximating non-nominal system behavior.
- Utilized Lyapunov function-based adaptive laws to guarantee system stability.
Main Results:
- The proposed RCFTC system effectively estimated and compensated for nonlinear faults.
- Simulation results demonstrated the system's ability to recover control performance despite faults and uncertainties.
- Guaranteed stability of the RCFTC system through rigorous adaptive law design.
Conclusions:
- The RCMAC-based FTC approach offers a robust solution for biped robot control under fault conditions.
- The RCFTC system successfully mitigates the impact of nonlinear faults and modeling uncertainties.
- This design technique enhances the reliability and performance of biped robots.
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