Robust Fault Tolerant Control of Robot Manipulators with Global Fixed-Time Convergence

Mien Van, Dariusz Ceglarek

Research output: Contribution to journalArticlepeer-review

7 Citations (Scopus)


In this paper, a robust fault tolerant control, which provides a global fixed-time stability, is proposed for robot manipulators. This approach is constructed based on an integration between a fixed-time second-order sliding mode observer (FxTSOSMO) and a fixed-time sliding mode control (FxTSMC) design strategy. First, the FxTSOSMO is developed to estimate the lumped disturbance with a fixed-time convergence. Then, based on the obtained disturbance estimation, the FxTSMC is developed based on a fixed-time sliding surface and a fixed-time reaching strategy to form a global fixedtime convergence of the system. The proposed approach is then applied for fault tolerant control of a PUMA560 robot and compared with other state-of-the-art controllers. The simulation results verify the outstanding fault estimation and fault accommodation capability of the proposed fault diagnosis observer and fault tolerant strategy, respectively.
Original languageEnglish
JournalJournal of the Franklin Institute
Early online date12 Nov 2020
Publication statusEarly online date - 12 Nov 2020


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