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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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Resilient consensus control for networked robotic manipulators under actuator faults and deception attacks.
Van-Truong Nguyen1, Van-Tam Ngo1, Le Anh Tuan2
1Faculty of Mechatronics, SMAE, Hanoi University of Industry, Hanoi, Viet Nam.
ISA Transactions
|February 23, 2025
Summary
This study presents a resilient control algorithm for robotic manipulators to achieve consensus despite faults and deception attacks. The adaptive control approach enhances system reliability without needing explicit fault detection.
Area of Science:
- Robotics
- Control Systems Engineering
- Cyber-Physical Systems
Background:
- Consensus control is crucial for multi-agent systems.
- Systems face challenges from actuator faults and deception attacks.
- Existing methods may require explicit fault detection.
Purpose of the Study:
- To develop a resilient consensus control algorithm for robotic manipulators.
- To achieve leader-follower consensus despite actuator faults and deception attacks.
- To enhance system robustness without requiring fault detection.
Main Methods:
- Adaptive fault-tolerant tracking control for performance.
- Adaptive observer to counter deception attacks.
- Lyapunov techniques and equivalence principle for stability analysis.
Main Results:
- Demonstrated stability of the robotic manipulator network.
- Confirmed convergence of filtered errors.
- Validated effectiveness of the control framework via simulations.
Conclusions:
- The proposed adaptive control framework enhances robotic system reliability.
- The approach successfully achieves resilient consensus under faults and attacks.
- The method's ability to bypass fault detection improves applicability.
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