In this paper, a new hybrid fault-tolerant control (FTC) strategy based on nonsingular fast integral-type terminal sliding mode (NFITSM) and time delay estimation (TDE) is proposed for a Schönflies parallel manipulator. In order to detect, isolate, and accommodate actuator faults, TDE is used as an online fault estimation algorithm. Stability analysis of the closed-loop system is performed using Lyapunov theory. The proposed controller performance is compared with conventional sliding mode and feedback linearization control methods. The obtained results reveal the superiority of the proposed FTC based on TDE and NFITSM.

中文翻译：

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基于时延估计的Schon̈flies并联机械臂主动容错控制

在本文中，提出了一种基于非奇异快速积分型终端滑模（NFITSM）和时延估计（TDE）的新型混合容错控制（FTC）策略，用于Schönflies并联机械臂。为了检测、隔离和适应执行器故障，TDE 被用作在线故障估计算法。使用 Lyapunov 理论对闭环系统进行稳定性分析。所提出的控制器性能与传统的滑模和反馈线性化控制方法进行了比较。获得的结果揭示了基于 TDE 和 NFITSM 的 FTC 的优越性。