Fixed-Time Fault-Tolerant Sliding Mode Control for Robot Manipulator

Abstract

This paper presents a fault-tolerant control with fixed time convergence for a class of robot manipulators over uncertainties, external disturbances and actuator faults. We design a disturbance observer to estimate and reject the external disturbance. Moreover, based on the disturbance observer, we propose a sliding mode control method for the considered the uncertain robot manipulators. Finally, we show a numerical example to illustrate the effectiveness of the proposed method.