Minimal-energy finite-time control of omni-directional mobile robots subject to actuators faults: Minimal-energy finite-time control of omni-directional mobile robots subject to actuators faults - Galicki, Mirosław; Banaszkiewicz, Marek; Węgrzyn, Marek (Nonlinear dynamics, 2025)
Keywords: Actuator failure; Applications of Nonlinear Dynamics and Chaos Theory; Classical Mechanics; Control; Control theory; Dynamical Systems; Energy consumption; Fault tolerance; Kinematics; Physics; Physics and Astronomy; Robot control; Robot dynamics; Statistical Physics and Dynamical Systems; Task space; Torque; Trajectory optimization; Vibration; Omni-directional mobile robot; Lyapunov stability; Temporarily optimal finite-time trajectory tracking; Actuator failure; Fault tolerant control