Recent Findings in Robotics Described by Researchers from Nanjing University of Aeronautics and Astronautics (Fault-tolerant Control for Markov Jump Nonlinear S ystems Based On an Observer and Finite-time Fast Integral Terminal Sliding Mode ...)

南京航空航天大学研究人员描述的机器人学最新发现(基于观测器和有限时间快速积分终端滑模的马尔可夫跳跃非线性系统容错控制)

Robotics & Machine Learning Daily News2024，Issue(Jun.17) ：73-73.

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Recent Findings in Robotics Described by Researchers from Nanjing University of Aeronautics and Astronautics (Fault-tolerant Control for Markov Jump Nonlinear S ystems Based On an Observer and Finite-time Fast Integral Terminal Sliding Mode ...)

南京航空航天大学研究人员描述的机器人学最新发现(基于观测器和有限时间快速积分终端滑模的马尔可夫跳跃非线性系统容错控制)

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摘要

一位新闻记者兼机器人与机器学习的新闻编辑每日新闻-机器人的研究发现被用在一份新的报告中。根据NewsRx记者从南京发回的新闻报道，研究表明：“本文针对具有未知外部扰动、不确定性和实际故障的欠驱动机器人，提出了一种基于观测器的容错控制方法。首先，与传统的将机器人系统视为时变参数系统的方法不同，本文提出了一种基于观测器的欠驱动机器人容错控制方法。不同驱动模式的欠驱动机器人机械手可视为经典的Markov跳跃非线性系统(MJNSs)。

Abstract

By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News – Research findings on Robotics are disc ussed in a new report. According to news reporting originating from Nanjing, Peo ple’s Republic of China, by NewsRx correspondents, research stated, “This paper develops a novel fault-tolerant control based on an observer for underactuated r obot manipulators with unknown external disturbances, uncertainties, and actuato r faults. First, unlike the traditional approach of treating the robot system as a parameter time-varying system, the underactuated robot manipulator with diffe rent drive modes can be considered as one of the classical Markov jump nonlinear systems (MJNSs).”

Key words

Nanjing/People’s Republic of China/Asia/Emerging Technologies/Machine Learning/Robot/Robotics/Nanjing University of Aeronautics and Astronautics

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出版年

2024

Robotics & Machine Learning Daily News

ISSN：

段落导航