A Novel High-Speed Third-Order Sliding Mode Observer for Fault-Tolerant Control Problem of Robot Manipulators

A Novel High-Speed Third-Order Sliding Mode Observer for Fault-Tolerant Control Problem of Robot Manipulators

In this paper, a novel fault-tolerant control tactic for robot manipulator systems using only position measurements is proposed. The proposed algorithm is constructed based on a combination of a nonsingular fast terminal sliding mode control (NFTSMC) and a novel high-speed third-order sliding mode o...

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Bibliographic Details
Main Authors: Van-Cuong Nguyen, Xuan-Toa Tran, Hee-Jun Kang
Format: Article
Language:English
Published: MDPI AG 2022-09-01
Series:Actuators
Subjects:
high-speed third-order sliding mode observer
nonsingular fast terminal sliding mode control
controller–observer strategy
faster convergence
fault-tolerant control
Online Access:https://www.mdpi.com/2076-0825/11/9/259

Internet

https://www.mdpi.com/2076-0825/11/9/259

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