Finite Time Fault Tolerant Control for Robot Manipulators Using Time Delay Estimation and Continuous Nonsingular Fast Terminal Sliding Mode Control

By Mien Van, Shuzhi Sam Ge, Hongliang Ren. IEEE Transactions on Cybernetics, 2017

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Adaptive Sliding Mode Disturbance Observer-Based Composite Control With Prescribed Performance of Space Manipulators for Target Capturing (2019, methodology): “To further demonstrate the effectiveness of proposed composite controller, comparisons are performed with the finitetime H∞ control in [10] and the nonsingular fast terminal SMC (NFTSMC) studied in [42].”
Reliable sliding mode finite‐time control for discrete‐time singular Markovian jump systems with sensor fault and randomly occurring nonlinearities (2018, background): “According to (9), (18), and Assumption 2, we have Vs (si (k + 1)) − Vs (si(k)) = sTi (k + 1) si (k + 1) − s T i (k)si(k) = 1 4 sTi (k)si(k) − s T i (k)si(k) = −(3) 4 ‖si(k)‖2.”
Terminal Sliding Mode Control – An Overview (2021, methodology): “In [166], a finite-time fault tolerant control was developed for uncertain robotic manipulators with actuator faults by combining the obtained fault information and the TSMC technique.”
An Adaptive Backstepping Nonsingular Fast Terminal Sliding Mode Control for Robust Fault Tolerant Control of Robot Manipulators (2019, methodology): “In order to demonstrate the superior performance of the proposed ABNFTSMC controller, we compare it with the state-of-the-art controllers, which have been proposed for improving trajectory tracking performance of robot manipulators such as CTC [6], PID controller [15], [16], conventional PID-SMC [47”