Prescribed Performance Fault-Tolerant Tracking Control of Uncertain Robot Manipulators with Integral Sliding Mode

This paper develops a fault-tolerant tracking control (FTC) for robot manipulators with prescribed performance subject to uncertainties and partial loss in effectiveness of actuators (UPEAs). First, an integral sliding manifold without reaching phase is constructed for guaranteeing the prescribed pe...

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Auteurs principaux:	Liyin Zhang, Yinlong Hou, Hui Liu, Dafeng Tang, Long Li
Format:	Artigo
Langue:	Inglês
Publié:	MDPI AG 2023-05-01
Collection:	Mathematics
Sujets:	prescribed performance fault-tolerant tracking control integral sliding mode robot manipulators
Accès en ligne:	https://www.mdpi.com/2227-7390/11/11/2430
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