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- W4327849958 abstract "In this paper, an Active Fault Tolerant Control (AFTC) strategy using a nonlinear H∞ control is proposed for a delta type parallel robot in the presence of actuator and sensor fault. First, dynamic modeling of the robot is accomplished using the Lagrange method. To measure the position and velocity, a super-twisting third-order sliding mode (STW-TOSM) observer is applied. The proposed scheme can accommodate both faults and uncertainties without velocity measurement. In addition, fast convergence and high accuracy is achieved because of applying the high-order sliding mode (HOSM) observer. In order to indicate the effectiveness of the FTC on the basis of nonlinear H∞, its performance is compared with conventional sliding mode and feedback linearization methods. The obtained results reveal the efficacy of the proposed FTC- H∞." @default.
- W4327849958 created "2023-03-20" @default.
- W4327849958 creator A5000305297 @default.
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- W4327849958 date "2020-08-31" @default.
- W4327849958 modified "2023-10-18" @default.
- W4327849958 title "Active fault tolerant control based on nonlinear subject to actuator and sensor faults for a parallel robot" @default.
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- W4327849958 doi "https://doi.org/10.15406/iratj.2020.06.00210" @default.
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