Adaptive finite-time tracking control for joint position constrained robot manipulators with actuator faults

Abstract

In this work, we propose a novel adaptive fault tolerant control scheme to address the finite-time position tracking control problem for a class of robot manipulators with joint position constraints and actuator faults. Backstepping design with a tan-type Barrier Lyapunov Function and a new structure of stabilizing function is presented. Through rigorous analysis, we show that despite the potential multiplicative and additive actuator faults, the position tracking error can converge into a small neighborhood of zero within finite time, while not violating the constraint requirement on the joint position vector. All closed loop signals are bounded during operation. A simulation study further demonstrates the efficacy of the proposed scheme.