Backstepping decentralized fault tolerant control for reconfigurable modular robots
mag(2013)
摘要
For the actuators fault of reconfigurable modular robot s , a backstepping decentralized fault tolerant control (DFTC) algorithm is proposed. T he reconfigurable robot system is divied into a set of interconnected subsystems. T he fault tolerant controller is designed based on backstepping method.
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关键词
backstepping,decentralized control
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