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Fault Diagnosis and Fault-tolerant Control of Robotic and Autonomous Systems

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Editors: Andrea Monteriu 1 ; Sauro Longhi 2 ; Alessandro Freddi 2
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Publication Year: 2020

Robotic systems have experienced exponential growth thanks to their incredible adaptability. Modern robots require an increasing level of autonomy and the capability to interact with humans. 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; observerbased 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.

Inspec keywords: manipulators; autonomous aerial vehicles; helicopters; nonlinear control systems; fault tolerance; mobile robots; optimal control

Other keywords: service robots; industrial robotic systems; nonlinear optimal control; fault diagnosis; fault tolerant control; unmanned aerial vehicles; robot manipulators; quadrotors; observer based control

Subjects: General topics in manufacturing and production engineering; Nonlinear control systems; Control technology and theory; Optimal control; Mobile robots; Robot and manipulator mechanics; Aerospace control; General and management topics

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