Fault detection and isolation in cooperative ... - SEL - EESC - USP

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indicating that free-swinging joint faults are correctly detected and isolated. The main .... r(+A1) output 3. RBFN fault fault 3 criteria manipulators. (t+st). 21. +. **r(t+A1). MLP. Figure 1. Residual .... manipulators", PRISMA Lab. Technical Report ...

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