Multi-model switching-based fault tolerant control for planar robot manipulators

DOI10.1049/IET-CTA.2019.0229MaRDI QIDQ6598684zbMATH OpenFDO

Authors Yajun Meng, Hao Yang, Bin Jiang

Publication date 5 September 2024

Published in IET Control Theory \& Applications (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1049/IET-CTA.2019.0229

zbMATH Keywords

nonlinear control systemsthree-link planar robot manipulatorswitching systems (control)switching lawsub-manipulatorssensor faultsrobust controlposition controlplanar robot manipulatorsplanar manipulatorsnonlinear modelactuatormultimodel switching-based fault tolerant controlmanipulatorslinear modeljoint angular positionsfault-tolerant tracking controlfault tolerant controldecentralised fault-tolerant controllerscontroller switchingcontrol system synthesisactuators

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Linear systems in control theory (93C05) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• A Small-Gain Theorem for Switched Interconnected Nonlinear Systems and Its Applications
• Controllability and stabilizability of a class of systems with higher-order nonholonomic constraints
• Decentralized adaptive control of interconnected systems
• Dual terminal sliding mode control design for rigid robotic manipulator
• Dynamics of Nonholonomic Systems
• scientific article; zbMATH DE number 3839814 (Why is no real title available?)
• scientific article; zbMATH DE number 707263 (Why is no real title available?)
• Lyapunov formulation of ISS cyclic-small-gain in continuous-time dynamical networks
• Planar reorientation maneuvers of space multibody systems using internal controls
• Simultaneous fault diagnosis for robot manipulators with actuator and sensor faults
• Small-gain theorem for ISS systems and applications

Cited in

(2)

• Robust Cartesian space tracking control of robot manipulators driven by BLDC motors: an observer based partial state feedback approach
• A new fault tolerant control scheme for non-linear systems by T-S fuzzy model approach

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