Abstract

Aiming at the decreasing performance of robotic system under the constraints of actuators, this paper presents some passive fault tolerant robotic control strategies, which are based on the analysis of Lyapunov function. In this process, using the idea of high-gain feedback, the requirement of high-level outputs of the actuators is limited, and at the same time the convergent performance is optimized by a fuzzy-sets method from which the actuating fault tolerant control is realized in robotic manipulators. Simulations validate the effectiveness of the given controllers

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.