Decentralized Force/Position Fault-Tolerant Control for Constrained Reconfigurable Manipulators with Actuator Faults.
Fan ZhouBo DongYuanchun LiPublished in: ICONIP (6) (2017)
Keyphrases
- fault tolerant control
- position control
- control scheme
- control law
- nonlinear systems
- control system
- closed loop
- end effector
- adaptive control
- force control
- stability analysis
- robotic manipulator
- control strategy
- degrees of freedom
- visual servoing
- dynamic model
- control algorithm
- optimal control
- robot manipulators
- force feedback
- fault diagnosis
- motion planning
- pid controller
- fault detection
- peer to peer
- low cost
- multi agent
- dynamic environments
- distributed systems
- neural network
- robot arm
- hardware implementation
- real time
- multi objective
- dynamical systems
- reinforcement learning
- dc motor
- clustering algorithm
- decision making
- robotic systems