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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| Main Authors: | , |
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| Format: | article |
| Language: | EN |
| Published: |
IEEE
2021
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| Subjects: | |
| Online Access: | https://doaj.org/article/aa3d18094dfe4cc5988a30772846e5bf |
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