IEEE - Institute of Electrical and Electronics Engineers, Inc. - An adaptive actuator failure compensation scheme for a parallel manipulator with parameter uncertainties

2016 IEEE 55th Conference on Decision and Control (CDC)

Author(s): Thummaros Rugthum ; Gang Tao
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2016
Conference Location: Las Vegas, NV, USA
Conference Date: 12 December 2016
Page(s): 2,103 - 2,108
ISBN (Electronic): 978-1-5090-1837-6
ISBN (DVD): 978-1-5090-1844-4
DOI: 10.1109/CDC.2016.7798574
Regular:

This paper develops an adaptive actuator failure compensation control scheme for a parallel manipulator robotic system. The adaptive control design uses an integration of multiple failure... View More

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