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dc.contributor.authorFaruk Kececi, E.
dc.contributor.authorTang, X.
dc.contributor.authorTao, G.
dc.date.accessioned2021-02-12T18:42:11Z
dc.date.available2021-02-12T18:42:11Z
dc.date.issued2003
dc.identifier.issn1474-6670
dc.identifier.urihttps://doi.org/10.1016/S1474-6670(17)36523-0
dc.identifier.urihttps://hdl.handle.net/11147/9728
dc.description5th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, Safeprocess 2003en_US
dc.description.abstractThis paper presents an adaptive actuator failure compensation method, which compensates for uncertainties due to unknown actuator failures and system dynamics, for a class of redundant manipulators where some joints concurrently actuated. Physical realization of concurrently actuated manipulators and their advantageous of use have been understood before, but adaptive failure compensation is still an open issue. In this research, failure formulation, controller structure and adaptive update rules for handling uncertainties from both the system dynamics and the failures are studied. The system stability is shown by a modified Lyapunov. Simulation results show the effectiveness of the proposed adaptive failure compensation control design. © 2003 International Federation of Automatic Control.en_US
dc.language.isoengen_US
dc.publisherIFAC Secretariaten_US
dc.relation.isversionof10.1016/S1474-6670(17)36523-0en_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectActuator failure compensationen_US
dc.subjectAdaptive control designen_US
dc.subjectConcurrently actuated manipulatoren_US
dc.subjectFault toleranceen_US
dc.subjectStabilityen_US
dc.subjectTrackingen_US
dc.titleAdaptive actuator failure compensation for concurrently actuated manipulatorsen_US
dc.typeconferenceObjecten_US
dc.typeconferenceObjecten_US
dc.relation.journalIFAC Proceedings Volumes (IFAC-PapersOnline)en_US
dc.contributor.departmentIzmir Isntitute of Technologyen_US
dc.identifier.volume36en_US
dc.identifier.issue5en_US
dc.identifier.startpage393en_US
dc.identifier.endpage398en_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıen_US


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