Decentralized Sliding Mode Observer Based Dual Closed-Loop Fault Tolerant Control for Reconfigurable Manipulator against Actuator Failure

This paper considers a decentralized fault tolerant control (DFTC) scheme for reconfigurable manipulators. With the appearance of norm-bounded failure, a dual closed-loop trajectory tracking control algorithm is proposed on the basis of the Lyapunov stability theory. Characterized by the modularizat...

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Detalles Bibliográficos
Autores principales: Zhao, Bo, Li, Chenghao, Liu, Derong, Li, Yuanchun
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Public Library of Science 2015
Materias:
Research Article
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4504718/
https://www.ncbi.nlm.nih.gov/pubmed/26181826
http://dx.doi.org/10.1371/journal.pone.0129315

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC4504718/
https://www.ncbi.nlm.nih.gov/pubmed/26181826
http://dx.doi.org/10.1371/journal.pone.0129315

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