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• W2765732517 abstract "This paper addresses the problems of decentralized force/position fault-tolerant control for constrained reconfigurable manipulators. A novel decentralized force/position control method is proposed for constrained reconfigurable manipulators without torque sensing by estimating the joint torques with only position measurements. In addition, a modified sliding mode controller is designed to guarantee force/position tracking performance, and the actuator faults in independent subsystem can be compensated by using an adaptive algorithm. The stability of closed-loop system is analyzed using the Lyapunov method. Finally, simulations are performed to verify the advantages of the proposed method." @default.
• W2765732517 created "2017-11-10" @default.
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• W2765732517 date "2017-01-01" @default.
• W2765732517 modified "2023-10-02" @default.
• W2765732517 title "Decentralized Force/Position Fault-Tolerant Control for Constrained Reconfigurable Manipulators with Actuator Faults" @default.
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• W2765732517 doi "https://doi.org/10.1007/978-3-319-70136-3_3" @default.
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