English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

In this paper, a fault-tolerant control (FTC) method for robotic manipulators is proposed to deal with the lumped uncertainties and faults in case of lacking tachometer sensors in the system. First, the third-order sliding mode (TOSM) observer is performed to approximate system velocities and the lumped uncertainties and faults. This observer provides estimation information with high precision, low chattering phenomenon, and finite-time convergence. Then, an FTC method is proposed based on a non-singular fast terminal switching function and the TOSM observer. This combination provides robust features in dealing with the lumped uncertainties and faults, increases the control performance, reduces chattering phenomenon, and guarantees fast finite-time convergence. Especially, this paper considers both two periods of time, in which before and after the convergence process takes place. The stability and the finite-time convergence of the proposed controller-observer technique is demonstrated using the Lyapunov theory. Finally, to verify the effectiveness of the proposed controller-observer technique, computer simulation on a serial two-link robotic manipulator is performed.

ieee access

A Finite-Time Fault-Tolerant Control Using Non-Singular Fast Terminal Sliding Mode Control and Third-Order Sliding Mode Observer for Robotic Manipulators