Command Filter-Based Adaptive Fault-Tolerant Fast Finite-Time Control of Manipulator Systems with Actuator Faults

Abstract

The issue of command filter-based fault-tolerant fast finite-time control is explored for manipulator systems with actuator faults. By using finite-time control and a finite-time command filter, all the signals in the closed-loop system are bounded and converge to the bounded regions in finite time. In addition, the problems of complicated calculation and influence of filtering errors are solved by the introduction of the finite-time command filter and a compensation mechanism. It is especially emphasized that the main contribution of this paper is as follows: (1) Several advanced control methods are integrated, which takes into account the speed, reliability, and adaptability of the controlled system. (2) In the last step of the design based on backstepping, an intermediate variable is designed which can simplify the proposed control algorithm. In the end, with the help of a numerical simulation example, it is shown that better transient/steady state performance and the fast finite-time stability of the closed-loop system can be obtained. As a result, it is concluded that our scheme is effective.