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http://hdl.handle.net/10261/166267
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Campo DC | Valor | Lengua/Idioma |
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dc.contributor.author | Stancu, Alexandru | - |
dc.contributor.author | Codres, Eduard | - |
dc.contributor.author | Puig, Vicenç | - |
dc.date.accessioned | 2018-06-14T06:52:20Z | - |
dc.date.available | 2018-06-14T06:52:20Z | - |
dc.date.issued | 2016 | - |
dc.identifier | doi: 10.1109/SYSTOL.2016.7739721 | - |
dc.identifier | isbn: 978-1-5090-0657-1 | - |
dc.identifier.citation | 3rd Conference on Control and Fault Tolerant Systems (SysTol): 21-23 (2016) | - |
dc.identifier.uri | http://hdl.handle.net/10261/166267 | - |
dc.description | Trabajo presentado a la 3rd Conference on Control and Fault Tolerant Systems, celebrada en Barcelona (España) del 7 al 9 de septiembre de 2016. | - |
dc.description.abstract | When mobile robots are intended to be used in hazardous environments or for long-time operations, it is needed to increase their robustness against faults. This could be achieved by means of the inclusion of Fault Tolerant Control (FTC) mechanisms. In this paper, a FTC based on fault hiding approach is proposed for a non-holonomic mobile robot. First, a Sliding Mode Controller (SMC) is designed to control the robost and to cope with modelling uncertainty. Later on, it is enhanced to take into account actuator faults leading to a fault hiding approach for the sliding mode fault tolerant control of the robot. Results using simulated fault scenarios are presented to illustrate the performance of the proposed approach. | - |
dc.description.sponsorship | This work has been partially funded by the Spanish Government (MINECO) through the project CICYT ECOCIS (ref. DPI2013-48243-C2-1-R), by MINECO and FEDER through the project CICYT HARCRICS (ref. DPI2014-58104-R). | - |
dc.publisher | Institute of Electrical and Electronics Engineers | - |
dc.relation | info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2013-48243-C2-1-R | - |
dc.relation | info:eu-repo/grantAgreement/MINECO/Plan Estatal de Investigación Científica y Técnica y de Innovación 2013-2016/DPI2014-58104-R | - |
dc.relation.isversionof | Postprint | - |
dc.rights | openAccess | - |
dc.title | A fault hiding approach for the sliding mode fault-tolerant control of a non-holonomic mobile robot | - |
dc.type | comunicación de congreso | - |
dc.identifier.doi | 10.1109/SYSTOL.2016.7739721 | - |
dc.relation.publisherversion | https://doi.org/10.1109/SYSTOL.2016.7739721 | - |
dc.date.updated | 2018-06-14T06:52:20Z | - |
dc.description.version | Peer Reviewed | - |
dc.language.rfc3066 | eng | - |
dc.contributor.funder | European Commission | - |
dc.contributor.funder | Ministerio de Economía y Competitividad (España) | - |
dc.contributor.funder | Comisión Interministerial de Ciencia y Tecnología, CICYT (España) | - |
dc.relation.csic | Sí | - |
dc.identifier.funder | http://dx.doi.org/10.13039/501100000780 | es_ES |
dc.identifier.funder | http://dx.doi.org/10.13039/501100003329 | es_ES |
dc.identifier.funder | http://dx.doi.org/10.13039/501100007273 | es_ES |
dc.type.coar | http://purl.org/coar/resource_type/c_5794 | es_ES |
item.fulltext | With Fulltext | - |
item.openairecristype | http://purl.org/coar/resource_type/c_18cf | - |
item.cerifentitytype | Publications | - |
item.grantfulltext | open | - |
item.openairetype | comunicación de congreso | - |
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