Actuator Fault-Tolerant Control of Anthropomorphic Manipulator Using Adaptive Backstepping and Neural Estimation of LuGre Friction Torque

This paper presents a fault-tolerant control (FTC) strategy for a six-degree-of-freedom (DoF) anthropomorphic manipulator operating under actuator faults and complex friction dynamics. The proposed framework integrates a backstepping control methodology with LuGre friction modeling and a feedforward...

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Hlavní autoři:	Khurram Ali, Khurram Shehzad, Sikender Gul, Syed Ali Ajwad, Adeel Mehmood
Médium:	Artigo
Jazyk:	Inglês
Vydáno:	MDPI AG 2026-01-01
Edice:	Machines
Témata:	LuGre friction model manipulator backstepping control fault-tolerant control (FTC) feedforward neural network (FFNN)
On-line přístup:	https://www.mdpi.com/2075-1702/14/2/156
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