基于故障在线估计的可重构机械臂分散容错控制
赵博1,3, 李成浩2,3, 李元春1,3

Online fault estimation based on decentralized fault-tolerant control for reconfigurable manipulators
ZHAO Bo1,3, LI Cheng-hao2,3, LI Yuan-chun1,3
图5 构形b应用所设计容错控制律关节跟踪曲线
Fig.5 Joints tracking curves applied the proposed fault tolerant control of configuration b