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 FT...

In this paper, a new terminal sliding mode control approach is developed for robotic manipulators. Unlike traditional terminal sliding mode control, the proposed approach can make system states converge to zero in a finite time without requiring explicitly using of system dynamic model. Theoretical analysis and simulation results are presented to illustrate the proposed approach. The controller...

Absrrucr In this paper, a new fuzzy sliding mode control scheme is proposed for second-order linear timevarying systems in order to obtain faster error convergence and desired error dynamics. It is well known that a second-order linear time-varying system can be used to model higher order linear time invariant systems piece-wisely. Therefore, it is necessary to do deep investigation for the sta...

Abstract Nonsingular Fixed-time Sliding Mode Control (NFSMC) method is one of the nonlinear control methods which robust against uncertainties and external disturbances. This paper presents an NFSMC to synchronize two similar Willamowski–Rossler reaction chaotic systems. The proposed disturbances; also, it accurate fast method. compared with a Terminal Control. comparison results show that prov...

Aimed at resolving the trajectory tracking control problem of aerial manipulation, this paper presents an manipulation system that consists a quadrotor unmanned vehicle (UAV) and two-degree-of-freedom manipulator. The adopted integrated strategy; is, rotor UAV manipulator were considered as whole, coupling effect was treated internal factor, whole taken research object to establish dynamic mode...

The bifurcation and chaos phenomenon which exist in power grid are threats to the stable operation of power grid and the safety of people and equipment. In order to eliminate the chaos phenomena in power grid, a kind of non-singular terminal sliding mode (NTSM) variable structure control method based on immune algorithm is put forward. The second-order model of grid chaotic oscillation is built...