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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

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