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Adaptive dynamic programming-based multi-fault tolerant control of reconfigurable manipulator with input constraint

Abstract In this paper, a multi-fault tolerant controller considering actuator saturation is proposed. Based on the adaptive dynamic programming(ADP) algorithm, the fault tolerant control of the reconfigurable manipulator with sensor and actuator faults are carried out. Firstly, combined with the st...

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Principais autores: Zhenguo Zhang, Tianhao Ma, Yadan Zhao, Shuai Yu, Fan Zhou
Formato: Artigo
Idioma:Inglês
Publicado em: Springer 2024-08-01
coleção:Complex & Intelligent Systems
Assuntos:
Reconfigurable manipulator
Actuator saturation
Adaptive dynamic programming
Sensor and actuator faults
Optimal control
Acesso em linha:https://doi.org/10.1007/s40747-024-01550-9
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