Adaptive Fault-Tolerant Control of Mobile Robots with Fractional-Order Exponential Super-Twisting Sliding Mode

Industrial mobile robots easily experience actuator loss of some effectiveness and additive bias faults due to the working scenarios, resulting in unexpected performance degradation. This article proposes a novel adaptive fault-tolerant control (FTC) strategy for nonholonomic mobile robot systems su...

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Autores principales:	Hao Wu, Shuting Wang, Yuanlong Xie, Hu Li
Formato:	Artigo
Lenguaje:	Inglês
Publicado:	MDPI AG 2024-10-01
Colección:	Fractal and Fractional
Materias:	adaptive fault-tolerant control (FTC) exponential super-twisting reaching law fractional-order sliding mode lock-in-place (LIP) mobile robot partial loss-of-effectiveness (LOE)
Acceso en línea:	https://www.mdpi.com/2504-3110/8/10/612
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