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Full Description
Robotic systems have experienced exponential growth thanks to their incredible adaptability. Modern robots require an increasing level of autonomy, safety and reliability. This book addresses the challenges of increasing and ensuring reliability and safety of modern robotic and autonomous systems. The book provides an overview of research in this field to-date, and addresses advanced topics including fault diagnosis and fault-tolerant control, and the challenging technologies and applications in industrial robotics, robotic manipulators, mobile robots, and autonomous and semi-autonomous vehicles.
Chapters cover the following topics: fault diagnosis and fault-tolerant control of unmanned aerial vehicles; control techniques to deal with the damage of a quadrotor propeller; observer-based LPV control design of quad-TRUAV under rotor-tilt axle stuck fault; an unknown input observer based framework for fault and icing detection and accommodations in overactuated unmanned aerial vehicles; actuator fault tolerance for a WAM-V catamaran with azimuth thrusters; fault-tolerant control of a service robot; distributed fault detection and isolation strategy for a team of cooperative mobile manipulators; nonlinear optimal control for aerial robotic manipulators; fault diagnosis and fault-tolerant control techniques for aircraft Systems; fault-tolerant trajectory tracking control of in-wheel motor vehicles with energy efficient steering and torque distribution; nullspace-based input reconfiguration architecture for over-actuated aerial vehicles; data-driven approaches to fault-tolerant control of industrial robotic systems.
Contents
Chapter 1: Fault Diagnosis and Fault-Tolerant Control of Unmanned Aerial Vehicles
Chapter 2: Control Techniques to Deal with the Damage of a Quadrotor Propeller
Chapter 3: Observer-based LPV control design of quad-TRUAV under rotor-tilt axle stuck fault
Chapter 4: An unknown input observer based framework for fault and icing detection and accommodations in overactuated unmanned aerial vehicles
Chapter 5: Actuator fault tolerance for a WAM-V catamaran with azimuth thrusters
Chapter 6: Fault-tolerant Control of a Service Robot
Chapter 7: Distributed Fault Detection and Isolation Strategy for a Team of Cooperative Mobile Manipulators
Chapter 8: Nonlinear optimal control for aerial robotic manipulators
Chapter 9: Fault Diagnosis and Fault-Tolerant Control Techniques for Aircraft Systems
Chapter 10: Fault-tolerant trajectory tracking control of in-wheel motor vehicles with energy efficient steering and torque distribution
Chapter 11: Nullspace-based input reconfiguration architecture for over-actuated aerial vehicles
Chapter 12: Data-driven approaches to fault-tolerant control of industrial robotic systems
Chapter 13: Conclusions
