首页 / 资料库 / 文献详情

Fault tolerant control for a robot collaborative system

姚利娜、曹维、王爱萍

2013北京理工大学学报：英文版Engineering被引 1

摘要

A new fault-tolerant control scheme is proposed for a nonlinear collaborative system that contains two robot subsystems. When fault occurs in one subsystem, the fault-free subsystem is used to compensate the fault influence of the faulty one on the whole collaborative system. When the faulty subsystem could not repair itself or the repair process needs a long time, the controller of the fault-free subsystem is reconfigured using the fault diagnosis information and other measured information, leading to the fault tolerant control of the robot collaborative system. Simulations of fault tolerant control for the robot collaborative system show the effectiveness of the proposed method.

引用本文（GB/T 7714）