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

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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Bibliographic Details
Main Authors: Duc Thien Tran, Kyoung Kwan Ahn
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Robotic manipulator
transformation technique
fractional-order terms
backstepping control
fault-tolerant control
output constraints
Online Access:https://ieeexplore.ieee.org/document/9583263/

Internet

https://ieeexplore.ieee.org/document/9583263/

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