Command Filter-based Fast Finite-time Fault-tolerant Control for Manipulator Systems Under Sensor Fault Conditions

The issue of command filter-based fault-tolerant fast finite-time control is explored for a single-joint manipulator system with sensor faults. By utilizing finite-time control and command filters, it is ensured that the tracking error converges to a bounded region within a finite time and all the signals in the closed-loop system are bounded. The introduction of finite-time command filters, along with a compensation mechanism, addresses the problems of complex calculations and the effects of filtering errors. Additionally, fuzzy logic systems are incorporated in the controller design to handle unknown functions within the controlled system, which takes into account the rapidity, adaptability and fault tolerance of the system. Numerical simulation results demonstrate the effectiveness of the proposed ethod, which leads to the conclusion that tracking performance has been achieved.