Backstepping decentralized fault tolerant control for reconfigurable modular robots

Jinbao He, Xinhua Yi, Zaifei Luo, Guojun Li

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


Keywords


reconfigurable modular robot; backstepping; fault tolerant control;decentralized control

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Indonesian Journal of Electrical Engineering and Computer Science (IJEECS)
p-ISSN: 2502-4752, e-ISSN: 2502-4760
This journal is published by the Institute of Advanced Engineering and Science (IAES) in collaboration with Intelektual Pustaka Media Utama (IPMU).

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