Robust decentralized force/position fault-tolerant control for constrained reconfigurable manipulators without torque sensing
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DOI: 10.1007/s11071-017-3494-1
Abstract: A major technical challenge in decentralized fault-tolerant control for a torque sensorless constrained reconfigurable manipulators is associated with decentralized control of the constraint force. This paper proposed a novel decentralized force/position control method based on… read more here.
Keywords: control; constrained reconfigurable; force; reconfigurable manipulators ... See more keywords
Model-free Adaptive Dynamic Programming Based Near-optimal Decentralized Tracking Control of Reconfigurable Manipulators
Sign Up to like & getrecommendations! Published in 2018 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-016-0711-5
Abstract: In this paper, a model-free near-optimal decentralized tracking control (DTC) scheme is developed for reconfigurable manipulators via adaptive dynamic programming algorithm. The proposed controller can be divided into two parts, namely local desired controller and… read more here.
Keywords: near optimal; error; control; optimal decentralized ... See more keywords