This paper focuses on sensor fault detection and compensation for robotic manipulators. The proposed method features a new adaptive observer and a new terminal sliding mode control law established on a second-order integral sliding surface. The method enables sensor fault detection without the need to know the bounds on fault value and/or its derivative. It also enables fast and fixed-time fault-tolerant control whose performance can be prescribed beforehand by defining funnel bounds on the tracking error. The ultimate boundedness of the estimation errors for the proposed observer and the fixed-time stability of the control system are shown using Lyapunov stability analysis. The effectiveness of the proposed method is verified using numerical simulations on two different robotic manipulators, and the results are compared with existing methods. Our results demonstrate performance gains obtained by the proposed method compared to the existing results.

翻译：本文聚焦于操作机器人的传感器故障检测与补偿问题。所提方法包含一种新型自适应观测器，以及建立在二阶积分滑模面上的终端滑模控制律。该方法无需已知故障值及其导数的界即可实现传感器故障检测，同时能够实现快速且固定时间的容错控制——通过定义跟踪误差的漏斗边界，可预先规定控制性能。通过李雅普诺夫稳定性分析证明了所提观测器估计误差的最终有界性及控制系统的固定时间稳定性。在两种不同操作机器人上的数值仿真验证了所提方法的有效性，并将结果与现有方法进行了对比。结果表明，相较于现有成果，所提方法在性能上具有显著优势。