A Single Parameter-Based Adaptive Approach to Robotic Manipulators With Finite Time Convergence and Actuator Fault

摘要

In this paper, a novel single-parameter adaptive finite time fault tolerant control (FTC) scheme is developed for an n-link robotic system with actuator fault, disturbances, system parameter uncertainties and saturation constraints. First, a finite time passive FTC (PFTC) is designed. Then, an improved control strategy called active FTC (AFTC) based on single-parameter adaptive method is studied. In this control scheme, a nonsingular fast terminal sliding mode (NFTSM) control is employed for the purpose of enhancing the robustness of the robotic system. The single-parameter adaptive method is employed to avoid obtaining the values of actuator fault, disturbances and system parameter uncertainties which reduces the complexity of the control design and the time required for online calculations. Finally, the effectiveness of the proposed single-parameter adaptive finite time AFTC scheme is verified by the simulation results.