Practical Prescribed-Time Fault-Tolerant Control for Robot Manipulators Involving Abrupt Actuator Faults and Position Error Constraints

摘要

This paper presents a practical prescribed-time fault-tolerant control (PPTFTC) method for a manipulator system experiencing time-varying actuator faults, parameter uncertainties, and position error constraints. The proposed method offers several advantages, including explicitly specified settling time and tracking accuracy, bounded continuity of system state and internal signals, and stronger robustness against actuator faults and parameter uncertainties. To validate the effectiveness of the proposed algorithm, extensive simulations have been conducted, which demonstrate its superior performance.