Fixed‐time fault‐tolerant control of manipulator systems based on sliding mode observer

Abstract

AbstractA fixed‐time fault‐tolerant control scheme based on sliding mode observer is proposed, which makes the system more stable and stronger anti‐jamming ability. In our design, its distinct characteristic is to combine the passive fault‐tolerant control and non‐singular fast terminal sliding mode (NFTSM). And it ensures that the system states can converge to a very small neighborhood near the equilibrium point in a fixed time no matter in normal condition or fault condition. In addition, a novel sliding‐mode observer and a fast variable power reaching law are added to make the system converge faster and chattering smaller. Finally, the computer simulation results of a two‐joint manipulator demonstrate the feasibility of the proposed strategy.