Command-Filtered Finite-Time Fuzzy Adaptive Fault-Tolerant Control of Output-Constrainted Robotic Manipulators With Unknown Dead-Zones

摘要

This brief presents a barrier Lyapunov functions-based (BLFs) adaptive fuzzy finite-time fault-tolerant control scheme for the manipulator with actuator faults and unknown dead-zones. Firstly, by constructing time-varying BLFs, the system output will be constrained in time-varying regions. Secondly, an adaptive method is designed to estimate the degree of actuator faults and to compensate for the effect of dead-zones. Thirdly, the command filtered backstepping with error compensation mechanism is introduced to approximate the virtual control laws, which can not only solve the “explosion of complexity” problem, but also improve the control accuracy. The control method can ensure that all signals of the closed-loop system are finite-time bounded, the tracking errors of joint positions converge to a small neighborhood of the origin, and meets the requirements of time-varying constraints. Finally, a rigid manipulator is used to verify the effectiveness of the scheme.