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

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2016/7926280/figures/7926280.fig.003a.svgz" name="7926280.fig.003a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Joint 1</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2016/7926280/figures/7926280.fig.003b.svgz" name="7926280.fig.003b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Joint 2</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/mpe/volume-2016/7926280/figures/7926280.fig.003c.svgz" name="7926280.fig.003c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Joint 3</td></tr></table>

<div>Real and estimated velocities.</div>

Mathematical Problems in Engineering

fig3

Figure 3

Figure 3: Fault Diagnosis and Fault-Tolerant Control of Uncertain Robot Manipulators Using High-Order Sliding Mode 