Fault Diagnosis and Fault-Tolerant Control of Uncertain Robot Manipulators Using High-Order Sliding Mode

Figure 11

Comparison among Passive SM-FTC, Passive STW-SOSM-FTC, and Active STW-SOSM-FTC in terms of control effort when an actuator fault occurs.

(a) Control input 1 for Joint 1

(b) Control input 2 for Joint 2

(c) Control input 3 for Joint 3