Luca Massimiliano Capisani

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—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)
Trajectory planning and tracking are crucial tasks in any application using robot manipulators. These tasks become particularly difficult when obstacles are present in the manipulatorpsilas workspace. In this paper it is assumed that the obstacles can be approximated in a conservative way with discs. The goal is to represent the obstacles in the robot(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 manipulator based on a second(More)
This paper proposes a continuous approximation of Sliding Mode Control (SMC) designed to fully reject constant disturbances. The main advantage of standard continuous approximation is knew to be chattering reduction while maintaining the state in a well defined boundary of the sliding surface. However, in classical implementations, the effect of even a(More)