Model free based finite time fault‐tolerant control of robot manipulators subject to disturbances and input saturation

This article proposed a model free based finite time fault‐tolerant control (FTC) method of robot manipulators subject to unknown disturbances, input saturation, and actuator faults. First, an accuracy‐driven integral terminal sliding mode surface (ADITSMS) was constructed, and the finite‐time conve...

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Bibliographic Details
Published in:	International journal of robust and nonlinear control Vol. 32; no. 9; pp. 5281 - 5303
Main Authors:	Chen, Zhengsheng, Wang, Xue‐song, Cheng, Yuhu
Format:	Journal Article
Language:	English
Published:	Hoboken, USA John Wiley & Sons, Inc 01.06.2022 Wiley Subscription Services, Inc
Subjects:	Actuators Adaptive algorithms Adaptive control Control theory Controllers Convergence Disturbances fault tolerant control input saturation Manipulators Mathematical models model free control Parametric analysis Robot arms Robot control Robustness (mathematics) Saturation Sliding mode control UDE Upper bounds
ISSN:	1049-8923, 1099-1239
Online Access:	Get full text
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