Model free based finite time fault‐tolerant control of robot manipulators subject to disturbances and input saturation

This article proposed a model free based finite time fault‐tolerant control (FTC) method of robot manipulators subject to unknown disturbances, input saturation, and actuator faults. First, an accuracy‐driven integral terminal sliding mode surface (ADITSMS) was constructed, and the finite‐time conve...

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Vydané v:	International journal of robust and nonlinear control Ročník 32; číslo 9; s. 5281 - 5303
Hlavní autori:	Chen, Zhengsheng, Wang, Xue‐song, Cheng, Yuhu
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	Hoboken, USA John Wiley & Sons, Inc 01.06.2022 Wiley Subscription Services, Inc
Predmet:	Actuators Adaptive algorithms Adaptive control Control theory Controllers Convergence Disturbances fault tolerant control input saturation Manipulators Mathematical models model free control Parametric analysis Robot arms Robot control Robustness (mathematics) Saturation Sliding mode control UDE Upper bounds
ISSN:	1049-8923, 1099-1239
On-line prístup:	Získať plný text
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