Nonsingular Fixed-time Fault-tolerant Sliding Mode Control of Robot Manipulator With Disturbance Observer

This paper presents a nonsingular sliding mode fault-tolerant control method with fixed-time convergence for a class of robot manipulators with uncertainties, external disturbances, and actuator failures. We estimate self-friction and external disturbances by designing a disturbance observer. Furthermore, based on the disturbance observer, we propose a sliding mode control method for the considered uncertain robot manipulator. Finally, the effectiveness of the proposed method is demonstrated by a numerical example.