Achieving Targeted Tracking Control Accuracy Within Given Timeframe for Arm-Hand Robotic Systems Under Actuation Faults
针对集成臂手机器人系统在致动器故障下的跟踪控制问题，提出一种预设时间故障容错控制方法，保证跟踪误差在指定时间内收敛到预定精度，仿真验证了有效性。
Enhancing the dexterity and agility of integrated arm-hand robotic systems to emulate human-like capabilities is a highly desirable yet challenging task that existing control schemes struggle to accomplish. In this article, we introduce a prescribed-time fault-tolerant targeted tracking control method for integrated arm-hand robotic systems with actuator faults. The control strategy is based on dynamics modeling and the inherent properties of the robotic plants. The proposed method guarantees that the tracking error converges to a predetermined accuracy level within a specified timeframe, regardless of the system’s initial condition. Moreover, the closed-loop robotic systems can continue to operate seamlessly in the presence of actuator faults without requiring interference. Simulation experiments conducted on a single-finger robot and an anthropomorphic arm-hand robotic system validate the efficacy of the targeted tracking control algorithm proposed in this study.