Adaptive Dynamic Programming-Based Fault-Tolerant Position-Force Control of Constrained Reconfigurable Manipulators

Adaptive Dynamic Programming-Based Fault-Tolerant Position-Force Control of Constrained Reconfigurable Manipulators

This article presents a novel fault-tolerant position-force optimal control method for constrained reconfigurable manipulators with uncertain actuator failures. On the basis of the radial basis function neural network (RBFNN)-estimated manipulators dynamics, the proposed force-position error fusion...

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Bibliographic Details
Main Authors: Bing Ma, Bo Dong, Fan Zhou, Yuanchun Li
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Reconfigurable manipulators
adaptive dynamic programming
fault-tolerant position-force control
optimal control
neural network
Online Access:https://ieeexplore.ieee.org/document/9214518/

Internet

https://ieeexplore.ieee.org/document/9214518/

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