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The estimated failure function curve of configuration B.

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posted on 2015-07-16, 02:55 authored by Bo Zhao, Chenghao Li, Derong Liu, Yuanchun Li

The solid line and the dotted line present the actual failure and estimated failure when joint 1 suffers actuator failure at t = 5s, respectively. One can see that the estimated one can follow the actual one precisely in real time in the presence of actuator failure.

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