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

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 system. First, third-order sliding mode (TOSM) observer performed approximate system velocities faults. This provides estimation information high precision, low chattering phenomenon, finite-time convergence. Then, an FTC based on non-singular fast terminal switching function TOSM observer. combination robust features dealing faults, increases performance, reduces guarantees Especially, paper considers both two periods time, which before after convergence process takes place. The stability controller-observer technique demonstrated using Lyapunov theory. Finally, verify effectiveness technique, computer simulation serial two-link manipulator performed.