This paper proposes a user-defined performance fault-tolerant control strategy for robot manipulators utilizing FLSs and a prescribed performance function. A user-defined performance function is developed for the robot manipulator, which can not only drive the tracking error to arrive at the prescribed boundary but also allow the arrival time to be adjusted according to users’ demands. This crucial feature overcomes the difficulty of the time and a compact set of unknown problems. Subsequently, an error transformation is performed to constrain the tracking errors within a specific range. Furthermore, in order to enhance the tracking performance of the system and account for the nonlinear dynamics, a fuzzy fault-tolerant performance control (FTPC) strategy is introduced. The model uncertainties, disturbances, and fault components are approximated by FLSs, which relaxes the assumption of bounded lumped uncertainties. The whole system achieves global practical fixed-time stability under the proposed FTPC, and the initial states have no bearing on the convergence time. Moreover, the tracking errors remain within a preset region even when there are actuator malfunctions. Finally, a two-link robot manipulator system is used to run simulations. The results demonstrate that the proposed method is both superior and feasible.
Arteaga-PerézMAPliego-JiménezJRomeroJG (2020) Experimental results on the robust and adaptive control of robot manipulators without velocity measurements. IEEE Transactions on Control Systems Technology28(6): 2770–2773.
2.
BeyOChemachemaM (2024) Finite-time event-triggered output-feedback adaptive decentralized echo-state network fault-tolerant control for interconnected pure-feedback nonlinear systems with input saturation and external disturbances: A fuzzy control-error approach. Information Sciences669: 120557.
3.
BounemeurAChemachemaM (2021) Adaptive fuzzy fault-tolerant control using Nussbaum-type function with state-dependent actuator failures. Neural Computing and Applications33: 191–208.
4.
BounemeurAChemachemaM (2025) Finite-time output-feedback fault tolerant adaptive fuzzy control framework for a class of MIMO saturated nonlinear systems. International Journal of Systems Science56(4): 733–752.
5.
BuXLeiH (2023) Fixed-time prescribed performance unknown direction control of discrete-time non-affine systems without Nussbaum-type function. IEEE Transactions on Automation Science and Engineering, Early Access21: 7064–7072.
6.
CaiMHeXZhouD (2024) Finite-time fault-tolerant control via fully actuated system approaches. IEEE Transactions on Cybernetics54: 5506–5517.
7.
DaiLYuYZhaiDH, et al. (2021) Robust model predictive tracking control for robot manipulators with disturbances. IEEE Transactions on Industrial Electronics68(5): 4288–4297.
8.
GaoZZhangYGuoG (2022) Prescribed-time control of vehicular platoons based on a disturbance observer. IEEE Transactions on Circuits and Systems II: Express Briefs69(9): 3789–3793.
9.
JiRLiDMaJ, et al. (2022) Saturation-tolerant prescribed control of MIMO systems with unknown control directions. IEEE Transactions on Fuzzy Systems30(12): 5116–5127.
10.
JiangBHuQFriswellMI (2016) Fixed-time attitude control for rigid spacecraft with actuator saturation and faults. IEEE Transactions on Control Systems Technology24(5): 1892–1898.
11.
LiCZhaoLXuZ (2022) Finite-time adaptive event-triggered control for robot manipulators with output constraints. IEEE Transactions on Circuits and Systems II: Express Briefs69(9): 3824–3828.
12.
LiDChenMPengK, et al. (2024) Fixed-time fault-tolerant control of manipulator systems based on sliding mode observer. International Journal of Robust and Nonlinear Control34(1): 440–455.
13.
LiYX (2019) Finite time command filtered adaptive fault tolerant control for a class of uncertain nonlinear systems. Automatica106: 117–123.
14.
LiuJWangQGYuJ (2023) Convex optimization-based adaptive fuzzy control for uncertain nonlinear systems with input saturation using command filtered backstepping. IEEE Transactions on Fuzzy Systems31(6): 2086–2091.
15.
LiuLLiuYJTongS (2019) Neural networks-based adaptive finite-time fault-tolerant control for a class of strict-feedback switched nonlinear systems. IEEE Transactions on Cybernetics49(7): 2536–2545.
16.
LiuQZhangKJiangB (2024a) Fixed-time fault estimation and prescribed performance fault-tolerant control for interconnected systems. IEEE Transactions on Cybernetics54(2): 1084–1095.
17.
LiuYLiuJWangQG, et al. (2022) Adaptive command filtered backstepping tracking control for AUVs considering model uncertainties and input saturation. IEEE Transactions on Circuits and Systems II: Express Briefs70(4): 1475–1479.
18.
LiuZWuCShenX, et al. (2024b) Adaptive interval type-2 fuzzy neural network-based novel fixed-time backstepping control for uncertain Euler–Lagrange systems. IEEE Transactions on Fuzzy Systems32(5): 2966–2975.
19.
MaHBuX (2024) Finite-time prescribed performance tracking control of seeker stabilized platform in the discrete-time domain. ISA Transactions145: 355–361.
20.
MaHZhouQLiH, et al. (2022) Adaptive prescribed performance control of a flexible-joint robotic manipulator with dynamic uncertainties. IEEE Transactions on Cybernetics52(12): 12905–12915.
21.
NohoojiHRZarakiAVoosH (2024) Actor–critic learning based PID control for robotic manipulators. Applied Soft Computing151: 111153.
22.
OuyangYDongLSunC (2022) Critic learning-based control for robotic manipulators with prescribed constraints. IEEE Transactions on Cybernetics52(4): 2274–2283.
23.
PolyakovA (2012) Nonlinear feedback design for fixed-time stabilization of linear control systems. IEEE Transactions on Automatic Control57(8): 2106–2110.
24.
ShaoXHuQShiY (2020) Adaptive pose control for spacecraft proximity operations with prescribed performance under spatial motion constraints. IEEE Transactions on Control Systems Technology29(4): 1405–1419.
25.
SunKLiuLQiuJ, et al. (2021) Fuzzy adaptive finite-time fault-tolerant control for strict-feedback nonlinear systems. IEEE Transactions on Fuzzy Systems29(4): 786–796.
26.
TanNYuP (2023) Predefined-time convergent kinematic control of robotic manipulators with unknown models based on hybrid neural dynamics and human behaviors. IEEE Transactions on Neural Networks and Learning Systems35: 18026–18038.
27.
VanMGeSS (2020) Adaptive fuzzy integral sliding-mode control for robust fault-tolerant control of robot manipulators with disturbance observer. IEEE Transactions on Fuzzy Systems29(5): 1284–1296.
28.
VanMGeSSRenH (2017) Finite time fault tolerant control for robot manipulators using time delay estimation and continuous nonsingular fast terminal sliding mode control. IEEE Transactions on Cybernetics47(7): 1681–1693.
29.
VanMSunYMcllvannaS, et al. (2023) Adaptive fuzzy fault tolerant control for robot manipulators with fixed-time convergence. IEEE Transactions on Fuzzy Systems31(9): 3210–3219.
30.
WangKLiuXJingY (2022) Super twisting sliding mode network congestion control based on disturbance observer. Neural Computing and Applications34(12): 9689–9699.
31.
WangMXZhuSLLiuSM, et al. (2023) Design of adaptive finite-time fault-tolerant controller for stochastic nonlinear systems with multiple faults. IEEE Transactions on Automation Science and Engineering20(4): 2492–2502.
32.
XuSHeB (2023) Robust adaptive fuzzy fault tolerant control of robot manipulators with unknown parameters. IEEE Transactions on Fuzzy Systems31(9): 3081–3092.
33.
YangCHuangDHeW, et al. (2021) Neural control of robot manipulators with trajectory tracking constraints and input saturation. IEEE Transactions on Neural Networks and Learning Systems32(9): 4231–4242.
34.
YinSXiaoBDingSX, et al. (2016) A review on recent development of spacecraft attitude fault tolerant control system. IEEE Transactions on Industrial Electronics63(5): 3311–3320.
35.
YueXZhangHSunJ, et al. (2024) Distributed saturation-tolerant fuzzy control for constrained stochastic multi-agent systems with resilient quantitative behaviors. IEEE Transactions on Fuzzy Systems33: 514–523.
36.
ZaareSSoltanpourMR (2024) Uncertainty and velocity observer-based predefined-time nonsingular terminal sliding mode control of the underwater robot manipulators. European Journal of Control75: 100939.
37.
ZhangBSunXLvM, et al. (2022a) Distributed adaptive fixed-time fault-tolerant control for multiple 6-DOF UAVs with full-state constraints guarantee. IEEE Systems Journal16(3): 4792–4803.
38.
ZhangDHuJChengJ, et al. (2024) A novel disturbance observer based fixed-time sliding mode control for robotic manipulators with global fast convergence. IEEE/CAA Journal of Automatica Sinica11(3): 661–672.
39.
ZhangLLiuHTangD, et al. (2022b) Adaptive fixed-time fault-tolerant tracking control and its application for robot manipulators. IEEE Transactions on Industrial Electronics69(3): 2956–2966.
40.
ZhaoZZhangJLiuZ, et al. (2024) Event-triggered adaptive neural fault-tolerant control for a 2-DOF helicopter system with prescribed performance. Automatica162: 111511.
41.
ZhuJWDongZYYangZJ, et al. (2024) A new reinforcement learning fault-tolerant tracking control method with application to Baxter robot. IEEE/ASME Transactions on Mechatronics29(2): 1331–1341.
42.
ZhuYZhuWLiuJ, et al. (2023) Command-filtered finite-time fuzzy adaptive fault-tolerant control of output-constrainted robotic manipulators with unknown dead-zones. IEEE Transactions on Circuits and Systems II: Express Briefs70(8): 2939–2943.
