The extended Luenberger observer for nonlinear systems
Systems & Control Letters
Adaptive control of flexible joint manipulators
Systems & Control Letters
Non-Identifier-Based High-Gain Adaptive Control
Non-Identifier-Based High-Gain Adaptive Control
Feedback and Multivariable Systems
Feedback and Multivariable Systems
Nonlinear Control Systems
Robot Motion: Planning and Control
Robot Motion: Planning and Control
Automatic Control Systems
Dynamic Analysis of a Nonholonomic Two-Wheeled Inverted Pendulum Robot
Journal of Intelligent and Robotic Systems
A New Approach to Adaptive Nonlinear Regulation
SIAM Journal on Control and Optimization
Fault-Tolerant Computing: An Introduction and an Overview
IEEE Transactions on Computers
Brief paper: Fault tolerant control using sliding modes with on-line control allocation
Automatica (Journal of IFAC)
Sliding mode observers: a survey
International Journal of Systems Science
State/noise estimator for descriptor systems with application to sensor fault diagnosis
IEEE Transactions on Signal Processing
Paper: A survey of design methods for failure detection in dynamic systems
Automatica (Journal of IFAC)
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In this paper, a novel collaborative fault tolerant control FTC scheme has been presented. The scheme based on a constant reference output regulation controller and intelligent algorithm to detect and diagnose fault as well as reconfigure the control rules. To reduce the cost of fault diagnoses time and observer complexity, the FTC algorithm has been introduced without fault detection and diagnose observers. The FTC algorithm has been developed based on the residuals and the first order derivative. In addition, to simplify the presentation, only two linearised collaborative subsystems two inverted robots joints arms and two inverted pendulum wheels cart are considered where the position of the second arm of robot has been diagnosed to compensate it through the tuning rules. However, an illustrated example is implemented and studied which reflects that the performance of the two subsystems can be delivering a common working goal through a new fault tolerant control strategy.