Compensatory Fault-Tolerant Control Toward the Manipulator in a High-Throughput Preparation System

A Deviation-Division Fault-Tolerant Control (D-D FTC) scheme which can produce convergent compensating control inputs for the faulty yet partially controllable actuators in finite steps is proposed in this paper. Based on the D-D FTC scheme, the implementation of the robot manipulator in a high-throughput preparation system is derived. Moreover, the simulation is given to illustrate the effectiveness of the proposed scheme.