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Observer-based adaptive sliding mode fault-tolerant control for the underactuated space robot with joint actuator gain faults

Ronghua Lei, Li Chen (2021)

Kybernetika

An adaptive sliding mode fault-tolerant controller based on fault observer is proposed for the space robots with joint actuator gain faults. Firstly, the dynamic model of the underactuated space robot is deduced combining conservation law of linear momentum with Lagrange method. Then, the dynamic model of the manipulator joints is obtained by using the mathematical operation of the block matrices, hence the measurement of the angular acceleration of the base attitude can be omitted. Subsequently,...

Robust neural network control of robotic manipulators via switching strategy

Lei Yu, Shumin Fei, Jun Huang, Yongmin Li, Gang Yang, Lining Sun (2015)

Kybernetika

In this paper, a robust neural network control scheme for the switching dynamical model of the robotic manipulators has been addressed. Radial basis function (RBF) neural networks are employed to approximate unknown functions of robotic manipulators and a compensation controller is designed to enhance system robustness. The weight update law of the robotic manipulator is based on switched multiple Lyapunov function method and the periodically switching law which is suitable for practical implementation...

Some results about compact logics

Paolo Lipparini (1982)

Atti della Accademia Nazionale dei Lincei. Classe di Scienze Fisiche, Matematiche e Naturali. Rendiconti Lincei. Matematica e Applicazioni

Nell'ambito della Teoria dei Modelli Astratta è possibile dimostrare che una logica compatta L è univocamente determinata dalla sua relazione di L-elementare equivalenza (Teorema 1). Si enunciano poi alcuni risultati sulle logiche massime correlate a certe relazioni di equivalenza e sulle logiche compatte generate da qualche sistema di Fraissé-Ehrenfeucht.

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