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  1. Article

    Open Access

    Decentralized fault-tolerant control of modular robot manipulators with actuator saturation: neural adaptive integral terminal sliding mode-based control approach

    A novel neural adaptive integral terminal sliding mode control for decentralized fault-tolerant control strategy, including the integral terminal sliding mode surface, the nonlinear disturbance observer, the r...

    Zengpeng Lu, Yuanchun Li, **rui Fan, Qingyun Wang, Yan Li in Complex & Intelligent Systems (2023)

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  2. No Access

    Article

    A Novel Decentralized Fixed-time Tracking Control for Modular Robot Manipulators: Theoretical and Experimental Verification

    This paper presents a novel decentralized fixed-time tracking control approach, which realizes the advantages of modular robot manipulators (MRMs) with fixed-time convergence, strong robustness, and high track...

    Zengpeng Lu, Yuanchun Li… in International Journal of Control, Automation and Systems (2023)

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    Article

    Decentralized Fault Tolerant Control for Modular Robot Manipulators via Integral Terminal Sliding Mode and Disturbance Observer

    A novel decentralized fault tolerant approach for modular robot manipulators (MRMs) with external disturbances is proposed via an integral terminal sliding mode and disturbance observer. First, an integral ter...

    Zengpeng Lu, Yan Li, **rui Fan, Yuanchun Li in International Journal of Control, Automati… (2022)