In this paper, a two-level reconfiguration action is used to design an FTC system. The objective is to adapt the corrective action accordingly to the fault severity. The first level of the procedure is triggered when the impact of the fault on the system performance is limited. At the second level a dynamic reference modification based on reference-offset governor is proposed. The idea consists...

An adaptive controller which is designed with a priori consideration of actuator saturation effects and guarantees H1 tracking performance for a class of multiple-input–multiple-output (MIMO) uncertain nonlinear systems with extern disturbances and actuator saturations is presented in this paper. Adaptive radial basis function (RBF) neural networks are used in this controller to approximate the...

Series elastic actuators have a spring intentionally placed at the actuator output. Measuring the spring strain gives an accurate measurement for closed-loop actuator force control. The low spring stiffness allows for high control gain while maintaining actuator stability. This gives series elastic actuators many desirable properties including high bandwidth at moderate force amplitudes, low ou...

A fault tolerant control system design technique has been proposed and analyzed for managing performance degradation in the presence of multiple faults in actuators. The method is based on a control structure with a model reference reconfigurable control design in an inner loop and command input adjustment in an outer loop. The reduced dynamic performance requirements in the presence of differe...

This paper examines the event-triggered global consensus of matrix-weighted networks subject to actuator saturation. A distributed protocol design is proposed for this category guarantee its both communication and It shown that largest singular value matrix-valued edge weights plays a crucial role in network performance, which renders framework more general than existing results are only applic...