ABSTRACT This paper investigates the trajectory tracking problem of rigid robot manipulators with unknown dynamics and actuator failures. The goal is to achieve desirable tracking performance with a simple and low-cost control strategy. By introducing a new form of parameter estimation error, together with an error transformation, a robust adaptive and fault-tolerant control scheme is developed without the need for fault information nor precise robotic mathematical model. It is shown that, with the proposed control, the tracking error is ensured to converge to an adjustable residual set within prescribed finite time at a user pre-assignable decay rate. The appealing feature of the developed control also lies in its simplicity in structure (i.e. PID form) and effectiveness in dealing with modelling uncertainties as well as actuation faults.

中文翻译：

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具有给定性能规格的机器人机械手的自适应类PID容错控制

摘要本文研究了具有未知动力学和执行器故障的刚性机器人机械手的轨迹跟踪问题。目标是通过简单且低成本的控制策略实现理想的跟踪性能。通过引入一种新形式的参数估计误差，连同误差变换，无需故障信息和精确的机器人数学模型，就可以开发出一种鲁棒的自适应和容错控制方案。结果表明，通过所提出的控制，确保跟踪误差在规定的有限时间内以用户可预分配的衰减率收敛到可调整的残差集。所开发控制的吸引人的特点还在于其结构简单（即 PID 形式）和处理建模不确定性以及驱动故障的有效性。