Observer-based adaptive sliding mode fault-tolerant control for the underactuated space robot with joint actuator gain faults.
Ronghua LeiLi ChenPublished in: Kybernetika (2021)
Keyphrases
- fault tolerant control
- sliding mode
- stability analysis
- trajectory tracking
- control law
- control scheme
- formation control
- nonlinear systems
- robot manipulators
- motion planning
- control system
- adaptive fuzzy
- mobile robot
- closed loop
- adaptive control
- sliding mode control
- variable structure
- vision system
- autonomous robots
- visual servoing
- path planning
- control strategy
- tracking error
- adaptive neural
- fuzzy model
- control algorithm
- dynamic model
- pid controller
- multi robot
- robotic systems
- degrees of freedom
- optimal control