Fault-Tolerant Control for N-Link Robot Manipulator via Adaptive Nonsingular Terminal Sliding Mode Control Technology

Figure 2

Faulty condition. (a) Tracking of joint 1; (b) tracking of joint 2; (c) tracking error of joint 1; (d) tracking error of joint 2; (e) control input of NTSMC1; (f) control input of NTSMC2; (g) control input of ANTSMC.

(a)

(b)

(c)

(d)

(e)

(f)

(g)