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This paper presents a method based on neural networks for achieving fault diagnosis and fault tolerant control of the mobile robot control. The neural network state observer is trained by real nonlinear control system. From the residual difference between outputs of actual system and neural network observer, the fault of control system is detected and determined. Fault tolerant control is realized...
This paper presents a method based on RBF neural networks for achieving fault tolerant control in the mobile robot control scheme. Tuning rules of the RBF networks which guarantees the stability of the fault system were derived and the on-line fault tolerant control scheme was developed. The method does not need fault detection and diagnosis modules. As an example of the application, a tracking control...
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