Adaptive Fuzzy Integral Sliding Mode Control for Robust Fault Tolerant Control of Robot Manipulators with Disturbance Observer
- Submitting institution
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Queen's University of Belfast
- Unit of assessment
- 12 - Engineering
- Output identifier
- 202564377
- Type
- D - Journal article
- DOI
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10.1109/TFUZZ.2020.2973955
- Title of journal
- IEEE Transactions on Fuzzy Systems
- Article number
- 2973955
- First page
- -
- Volume
- Early Online
- Issue
- -
- ISSN
- 1063-6706
- Open access status
- Compliant
- Month of publication
- February
- Year of publication
- 2020
- URL
-
-
- Supplementary information
-
-
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
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1
- Research group(s)
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C - Electrical and Electronic
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- This research provides a new fault tolerant control paradigm for robot manipulators, especially for underwater robotic hands, and is an outcome of the project ‘Dexterous and Flexible Robotic Hand with Force Sensing and Adaptive compliant Control’, funded by the Office of Naval Research Global (USA). The approach can approximate input attacks on the system, including uncertainty, disturbances and faults, and sets the baseline for the development of model-free robust controllers for practical engineering applications involving multiple unknown inputs, e.g. when using underwater robots or soft robots.
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -