Articles | Volume 14, issue 1
Research article
26 Apr 2023
Research article |  | 26 Apr 2023

Adaptive chaos control of a humanoid robot arm: a fault-tolerant scheme

Said Ghani Khan

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Subject: Mechanisms and Robotics | Techniques and Approaches: Mathematical Modeling and Analysis
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Cited articles

Ahmad, S., Uppal, A., Azam, M., and Iqbal, J.: Chattering Free Sliding Mode Control and State Dependent Kalman Filter Design for Underground Gasification Energy Conversion Process, Electronics, 12, 876, 2023. a
Ahmad Taher Azar, Q. Z. (Ed.): Advances and Applications in Sliding Mode Control systems, Springer, ISBN 978-3319111728,, 2015. a, b, c, d
Anjum, M., Khan, Q., Ullah, S., Hafeez, G., Fida, A., Iqbal, J., and Albogamy, F.: Maximum Power Extraction from a Standalone Photo Voltaic System via Neuro-Adaptive Arbitrary Order Sliding Mode Control Strategy with High Gain Differentiation, Appl. Sci.-Basel, 44, 2773,, 2022. a, b
Bucak, İ. Ö.: An In-Depth Analysis of Sliding Mode Control and Its Application to Robotics, in: Automation and Control, chap. 8, edited by: Voloşencu, C., Küçük, S., Guerrero, J., and Valero, O., IntechOpen, Rijeka,, 2020. a, b
Chen, G., Song, Y., and Lewis, F.: Distributed Fault-Tolerant Control of Networked Uncertain Euler-Lagrange Systems Under Actuator Faults, IEEE T. Cybernetics, 47, 1706–1718, 2017. a, b
Short summary
Humanoid robots are stepping into the social environment. However, smooth and safe operation is still a challenge. Faults in robotics, whether mechanical or electrical, are still inevitable. In this work, we present a fault-tolerant scheme for a humanoid robotic arm, to minimize the damage if a joint fails during normal operation or during human–robot interaction or cooperation.