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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