Adaptive finite-time sliding mode control of robot manipulators with possible actuator failures

Abstract

Abstract In this paper, we present an adaptive finite-time fault-tolerant control scheme for a class of robot manipulators with total loss-of-effectiveness actuator failures. First, to accommodate the uncertainties caused by unknown failures, a novel decoupling method is developed to separate the uncertain fault parameters and control input in dynamics. Furthermore, by utilizing an integral fast terminal nonsingular sliding mode control strategy, the output state will reach the vested sliding surface within the fixed time. In this sense, the position errors are limited to the preset range within the set time, while avoiding singularity problems. With our scheme, all signals are guaranteed to converge to zero in the robot manipulator closed-loop dynamics. Simulation and experiment results are displayed to verify the effectiveness of the controller.