Distributed fault tolerant control of networked Euler-lagrange systems under actuator faults

This paper provides a distributed fault-tolerant cooperative control strategy for a class of networked Euler-Lagrange systems subject to the additive actuator faults and the partial loss of actuator effectiveness. The proposed fault-tolerant cooperative controller consists of two parts: the nominal cooperative controller and the auxiliary cooperative controller. The nominal cooperative controller is developed firstly when the actuators are fault-free. The auxiliary cooperative controller is designed to compensate for the actuator faults. Numerical simulation results are presented to demonstrate the effectiveness of the proposed control law and illustrate its robustness to external disturbances and actuator faults.