Study on Finite-time Fault-tolerant Control for a Robot Manipulator Based on Synchronous Terminal Sliding Mode Control

Two finite-time active fault-tolerant controllers for a robot manipulator are proposed in this study, which include synchronous terminal sliding mode control and an extended state observer. To estimate aggregated uncertainties, disturbances, and faults, an extended state observer is used first. The estimation data is utilised to compensate the controller that will be created in the…
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September 14, 2021 0