Fault-tolerant control with high-order sliding mode for manipulator robot

<p>The safety of manipulators systems is receiving a lot attention these days. Faults have the ability to carry out harmful activities that harm equipment, environment, or persons. As result, it critical detect and diagnose problems as soon possible, well incorporate fault tolerance avoid performance deterioration circumstances. Robust sensor detection isolation (FDI) fault-tolerant control (FTC) for robotic system are discussed in this work. The goal research create an FDI method uses super-twisting third-order sliding mode (STW-TOSM) observer estimate residual signals. A suggested based on higher-order (HOSM) observer/controller approaches used accomplish this. In comparison active FTC technique, test results demonstrate high level performance. Finally, simulation illustrate efficacy presented techniques.</p>