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 impose known 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：本文聚焦于机器人操作臂的传感器故障检测与补偿问题。所提方法采用新型自适应观测器及基于二阶积分滑模面的终端滑模控制律。该方法无需预先设定故障值及其导数的已知边界即可实现传感器故障检测，同时能够实现快速固定时间容错控制，且其性能可通过预先定义跟踪误差的漏斗边界进行指定。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。针对两种不同机器人操作臂的数值仿真验证了该方法的有效性，并将结果与现有方法进行了对比分析。结果表明，与现有技术相比，所提方法在性能上取得了显著提升。