Finite Time Fault Tolerant Control for Robot Manipulators Using Time Delay Estimation and Continuous Nonsingular Fast Terminal Sliding Mode Control - Van, Mien; Ge, Shuzhi Sam; Ren, Hongliang (IEEE transactions on cybernetics, 2017)
Keywords: Actuators; Algorithms; Computer simulation; Control systems; Convergence; Fault detection; Fault diagnosis; Fault diagnosis (FD); Fault tolerance; fault tolerant control (FTC); Manipulators; Observers; Robot arms; Robot control; robot manipulators; Robots; Robustness; Sliding mode control; State of the art; terminal sliding mode; time delay estimation (TDE); Time lag; Twisting