Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

Permanent URI for this collectionhttps://hdl.handle.net/11147/7148

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Department: search.filters.department.İzmir Institute of Technology. Mechanical EngineeringSubject: search.filters.subject.Fault tolerance

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Now showing 1 - 3 of 3
  • Conference Object
    Citation - Scopus: 2
    Adaptive Actuator Failure Compensation for Concurrently Actuated Manipulators
    (Elsevier, 2003) Keçeci, Emin Faruk; Tang, Xidong; Tao, Gang
    This paper presents an adaptive actuator failure compensation method, which compensates for uncertainties due to unknown actuator failures and system dynamics, for a class of redundant manipulators where some joints concurrently actuated. Physical realization of concurrently actuated manipulators and their advantageous of use have been understood before, but adaptive failure compensation is still an open issue. In this research, failure formulation, controller structure and adaptive update rules for handling uncertainties from both the system dynamics and the failures are studied. The system stability is shown by a modified Lyapunov. Simulation results show the effectiveness of the proposed adaptive failure compensation control design.
  • Conference Object
    Adaptive Actuator Failure Compensation for Cooperating Multiple Manipulator Systems
    (Elsevier, 2003) Keçeci, Emin Faruk; Tang, Xidong; Tao, Gang
    This paper presents adaptive actuator failure compensation for a cooperating multiple manipulator system with uncertain actuator failures in the task space. Advantages of designing control schemes in task spaces are emphasized, applications of task space control in robotics are discussed and a short review on control algorithms for cooperating multiple manipulator systems is given. Dynamic equations of motion of the multiple manipulator system in the task space are derived, and the adaptive actuator failure compensation problem is formulated. A compensation controller structure is proposed, for which adaptive parameter update laws are developed. The adaptive control scheme is able to compensate for the uncertainties arising from both the system parameters and the actuator failures. Based on Lyapunov stability analysis, the closed-loop signal boundedness and the convergence of the tracking error to zero are ensured. © 2003 International Federation of Automatic Control.
  • Conference Object
    Citation - Scopus: 2
    Fault-Tolerance Experiments With a Kinematically Redundant Holonomic Mobile Robot
    (Springer Verlag, 2018) Şahin, Osman Nuri; Çelik, Onur; Dede, Mehmet İsmet Can
    Indoor locomotion with mobile robots has found applications in industrial part moving, factory floor investigation and cleaning tasks. Holonomic mobile robots have the advantage of moving in tight and winding passages without the need of steering. In this study, a four omni-directional wheeled mobile robot is considered. The mobile robot is kinematically redundant having four of these wheels and this is used in providing fault-tolerance due to a malfunction in one of the wheels. In this paper, the redundancy resolution for this mobile robot is explained providing a solution to a fault in one of the wheels during operation. A top level controller to compensate for the orientation errors is introduced. Finally experimental set-up is presented along with the result of the fault-tolerance experiments.