Luca Massimiliano Capisani

Learn More
—A diagnostic scheme for actuator and sensor faults which can occur on a robot manipulator using a model-based fault diagnosis (FD) technique is addressed. With the proposed FD scheme, it is possible to detect a fault, which can occur on a specific component of the system. To detect actuator faults, higher order sliding-mode unknown input observers are(More)
The distributed control of industrial plants, where the control algorithm runs on a machine that receives information from sensors and sends actuation commands over a communication network is a challenging task, due to the delays introduced by communication. This paper presents the networked control of a robotic anthropomorphic ma-nipulator based on a(More)