Actuator fault detection and adaptive accommodation control of flexible-joint robots

IET Control Theory and Applications

Volumn 6, Issue 10, 2012, Pages 1497-1507

  Yoo, S J ^a  

^a Chung Ang University   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

ACCOMMODATION CONTROL; ACTUATOR FAULT; ACTUATOR FAULT DETECTION; ADAPTIVE TECHNIQUE; CONVERGENCE RATES; DETECTABILITY; DYNAMIC SURFACE; FAULT ACCOMMODATION; FAULT DETECTION SCHEMES; FLEXIBLE JOINTS; LYAPUNOV STABILITY THEOREM; MAXIMUM OVERSHOOT; MODEL UNCERTAINTIES; PRESCRIBED PERFORMANCE; SEMI-GLOBALLY UNIFORMLY ULTIMATELY BOUNDED; SIMULATION EXAMPLE; TRACKING ERRORS;

ERRORS; THEOREM PROVING; UNCERTAINTY ANALYSIS;

ROBOTS;

EID: 84870273846     PISSN: 17518644     EISSN: 17518652     Source Type: Journal    
DOI: 10.1049/iet-cta.2011.0508     Document Type: Article

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