Prescribed finite-time adaptive fuzzy-based fault-tolerant control of robotic manipulators using dynamic scaling factor

• Published in: The Journal of supercomputing Vol. 81; no. 6
• Main Authors: Serajgah, Saman Amini, Ahmadi, Ali-Akbar
• Format: Journal Article
• Language: English
• Published: New York Springer US 23.04.2025; Springer Nature B.V
• Subjects: Actuators; Compilers; Computer Science; Convergence; Fault tolerance; Faults; Fuzzy logic; Fuzzy systems; Initial conditions; Interpreters; Manipulators; Processor Architectures; Programming Languages; Robot arms; Robot control; Scaling factors; Sliding mode control; Supercomputers; Systems stability; Prescribed-time control; Adaptive fuzzy fault-tolerant control; Sliding mode control; Actuator fault

Robotic manipulators play a critical role in modern automation; however, their efficacy can be significantly restricted by actuator faults, which present challenges to both stability and reliability. Current control strategies, including finite-time and fixed-time methods, encounter difficulties in...