Adaptive Fuzzy Fault Tolerant Control for Robot Manipulators with Fixed-Time Convergence

• Published in: IEEE transactions on fuzzy systems Vol. 31; no. 9; pp. 1 - 10
• Main Authors: Van, Mien, Sun, Yuzhu, Mcllvanna, Stephen, Nguyen, Minh-Nhat, Khyam, Mohammad Omar, Ceglarek, Dariusz
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.09.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptive control; Artificial neural networks; backsepping control; Backstepping; Control of robots; Controllers; Convergence; Dynamic models; Fault tolerance; fault tolerant control; fixed-time convergence; Fuzzy control; Fuzzy logic; fuzzy logic system; Manipulator dynamics; Manipulators; Robot arms; Robot control; Robot dynamics; Robots; Robustness; Robustness (mathematics); Tracking errors
• ISSN: 1063-6706; 1941-0034
• DOI: 10.1109/TFUZZ.2023.3247693

This paper aims to resolve the three major issues of fault tolerant control (FTC) for robot manipulators: (i) the faster response, lower tracking errors, lower chattering and higher robustness of the FTC, (ii) the requirement of partial or full knowledge of robot dynamics for the design of model-bas...