Finite-Time Fault-Tolerant Control for a Stewart Platform Using Sliding Mode Control With Improved Reaching Law

In this paper, a fault-tolerant control (FTC) is proposed for nonlinear system as Stewart platform (SP). To reject the singularity issue of traditional fast terminal sliding mode (FTSMC) and to have finite-time convergence, nonsingular (NFTSMC) used. addition, an extended state observer (ESO) applied scheme estimate uncertainties, disturbances, faults. increase convergence speed alleviate chattering phenomenon, novel reaching law which gives quick speed. Finally, FTC that ensures robustness disturbances faults developed based on NFTSMC, ESO, law. Consequently, has outstanding features such high tracking performance, decrease in effects faults, finite time, less chattering. The simulation experiment results demonstrate efficiency compared other schemes.