Exponential Auto-Tuning Fault-Tolerant Control of N Degrees-of-Freedom Manipulators Subject to Torque Constraints - Shahna, Mehdi Heydari; Mattila, Jouni (Proceedings of the IEEE Conference on Decision & Control, 2024)
Keywords: Actuators; Fault tolerance; Fault tolerant systems; Manipulator dynamics; Mathematical models; Optimal control; Particle swarm optimization; Torque; Trajectory; Tuning