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This paper presents a fault-tolerant (FT) switching control system structure and proposes an FT controller design methodology for systems vulnerable to actuator and sensor faults. The working effectiveness of the i-th actuator/sensor (which is assumed to be known) is represented as a time varying parameter δi(t) where δi(t) ∈ {0, c2, …, cs−1, 1} and where δi(t) = 0 represents a component failure at...
Compliant actuator is widely accepted for physical human-robot interaction due to its safety aspect, dynamic performance improvements and energy saving abilities. In this paper, based on the variable ratio lever mechanism, a new kind of Serial Variable Stiffness Actuator (SVSA) is proposed by using an Archimedean Spiral Relocation Mechanism (ASRM) to change the position of the pivot, implementing...
Problems related to the identifiability of Networked Control Systems (NCSs) are studied in this paper. The informative enough property is a necessary condition to ensure a system's identifiability. In this paper, it is proved that the data set which is not informative enough with respect to some model sets in a conventional closed-loop system will become informative enough with respect to these model...
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