Research Article
Fault Diagnosis and Fault-Tolerant Control of Uncertain Robot Manipulators Using High-Order Sliding Mode
Figure 10
Comparison among Passive SM-FTC, Passive STW-SOSM-FTC, and Active STW-SOSM-FTC in terms of tracking error when an actuator fault occurs.
(a) Error 1 |
(b) Error 2 |
(c) Error 3 |