Finite-Time Fault-Tolerant Control for a Robotic Manipulator With Output Constraint and Uncertainties

This paper proposed a finite-time backstepping control for a robotic manipulator under the presence of actuator fault, saturation constraints, output constraints, and external disturbance to obtain requirements about the robustness, fast convergence, and high accuracy tracking performance. To manage...

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Detalles Bibliográficos
Autores principales: Duc Thien Tran, Kyoung Kwan Ahn
Formato: article
Lenguaje:EN
Publicado: IEEE 2021
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Acceso en línea:https://doaj.org/article/aa3d18094dfe4cc5988a30772846e5bf
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