Backstepping decentralized fault tolerant control for reconfigurable modular robots
Jinbao He
Xinhua Yi
Zaifei Luo
Guojun Li
Indonesian Journal of Electrical Engineering and Computer Science
Abstract
For the actuators fault of reconfigurable modular robots, a backstepping decentralized fault tolerant control(DFTC) algorithm is proposed. The reconfigurable robot system is diviedinto a set of interconnected subsystems. The fault tolerant controller is designed based on backstepping method.DOI: http://dx.doi.org/10.11591/telkomnika.v11i7.2583
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