所属单位：天津大学
教研室：电子工程与自动化学院
发表刊物：Int. J. Advanced Mechatronic Systems
刊物所在地：Inderscience Enterprises Ltd.
项目来源：中国国家自然科学基金，项目号: 61134001、61134006、61203012、61273092、61301244; 天津大学独立创新基金，项目号: 2013XQ–0022.
关键字：multivariable control; finite time convergence; manipulator with actuator and sensor fault.
摘要：The fault control for manipulator with actuator and sensor faults is investigated. For actuator fault, a fault observer is designed based on multivariable second order sliding mode to estimate this fault information in finite time. Then, the estimated values are incorporated into continuous controller to compensate the real actuator fault. In presence of both actuator and position (or velocity) sensor faults, the failure sensor is discarded and a state observer is designed using second order sliding mode to estimate the position (or velocity) information in finite time.
合写作者：Hong Wang, Xiaomo Yan,王卓,Bailing Tian*
论文类型：基础研究
文献类型：期刊
是否译文：否
发表时间：2015-11-13