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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Detalles Bibliográficos

Principais autores:	Duc Thien Tran, Kyoung Kwan Ahn
Formato:	Artigo
Idioma:	Inglês
Publicado:	IEEE 2021-01-01
Series:	IEEE Access
Assuntos:	Robotic manipulator transformation technique fractional-order terms backstepping control fault-tolerant control output constraints
Acceso en liña:	https://ieeexplore.ieee.org/document/9583263/
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