Robust decentralized force/position fault-tolerant control for constrained reconfigurable manipulators without torque sensing

DOI10.1007/s11071-017-3494-1zbMath1384.93099OpenAlexW2604904189MaRDI QIDQ1745234

Fan Zhou, Yuanchun Li, Guangjun Liu

Publication date: 20 April 2018

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-017-3494-1

zbMATH Keywords

sliding mode controlfault-tolerant controlconstrained reconfigurable manipulatorsdecentralized force/position controlharmonic drive transmission

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

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