An Active Fault-Tolerant Control Based on Synchronous Fast Terminal Sliding Mode for a Robot Manipulator

To maintain the safe operation and acceptable performance of robot manipulators when faults occur inside system, fault-tolerant control must deal differently uncertainties disturbances, especially with occurrence loss-effective faults. Therefore, in this paper, an active for based on combination a novel finite-time synchronous fast terminal sliding mode extended state observer is proposed. Due to internal constraints synchronization technique, position error at each actuator simultaneously approaches zero tends be equal. proposed controller can suppress effects guarantee occur. First, designed estimate lumped uncertainties, disturbance Then, information from used combine main as compensator. By combining merits compensation, able disturbances normal reduce case occur, Finally, enhanced safety, reality effectiveness are evaluated through 3-DOF manipulator both simulated environment experiment.