Backstepping Decentralized Fault Tolerant Control for Reconfigurable Modular Robots

نویسندگان

  • Yi Xinhua
  • Luo Zaifei
  • Li Guojun
چکیده

For the actuators fault of reconfigurable modular robots, a backstepping decentralized fault tolerant control (DFTC) algorithm is proposed. The reconfigurable robot system is divied into a set of interconnected subsystems. The fault tolerant controller is designed based on backstepping method. It is hard to obtain the model parameters uncertainty term and interconnected term, so the adaptive fuzzy approximation is adopted to estimate the two terms. Simulation results show the controller can guarantee the tracking accuracy and stability of the system with the actuator faults.

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تاریخ انتشار 2013