Distributed control for robot manipulators with pseudoholonomic behavior

This paper proposes a distributed nominal control methodology and an idea about the fault accommodation scheme for the planar robot manipulator with pseudoholonomic behavior. Because of the nonholonomic constraint of motion, planar robot manipulators are nonholonomic systems. The key novelty of our proposed method is that the control can be achieved by a continuous control law with pseudoholonomic behavior. Moreover, the proposed control method in this paper is a distributed law under which each subsystem only shares information with neighboring subsystems. An example for a planar multibody with 3 rigid bodies is taken to illustrate the effectiveness of the proposed method.