An adaptive actuator failure compensation scheme for a hexapod system

This paper develops a new fault-tolerant robot control technique, by constructing and evaluating an adaptive actuator failure compensation scheme for control of a Hexapod subject to uncertain actuator failures. Based on adaptive integration of multiple individual failure compensators and direct adaptation of controller parameters, the adaptive actuator failure compensation scheme utilizes redundancy in the system to guarantee desired closed-loop stability and asymptotic output tracking, despite concurrent actuator failures whose pattern, time and value are all uncertain. Simulation results are presented to verify the desired adaptive failure compensation control performance for a typical Hexapod dynamic system model.