In this paper, a robust fault tolerant control, which provides a global fixed-time stability, is proposed for robot manipulators. This approach is constructed based on an integration between a fixed-time second-order sliding mode observer (FxTSOSMO) and a fixed-time sliding mode control (FxTSMC) design strategy. First, the FxTSOSMO is developed to estimate the lumped disturbance with a fixed-time convergence. Then, based on the obtained disturbance estimation, the FxTSMC is developed based on a fixed-time sliding surface and a fixed-time reaching strategy to form a global fixed-time convergence of the system. The proposed approach is then applied for fault tolerant control of a PUMA560 robot and compared with other state-of-the-art controllers. The simulation results verify the outstanding fault estimation and fault accommodation capability of the proposed fault diagnosis observer and fault tolerant strategy, respectively.

在本文中，提出了一种鲁棒的容错控制，该控制提供了全局固定时间稳定性，用于机器人操纵器。此方法是基于固定时间二阶滑模观察器（FxTSOSMO）和固定时间滑模控件（FxTSMC）设计策略之间的集成而构造的。首先，开发了FxTSOSMO以估计具有固定时间收敛性的集总干扰。然后，基于获得的干扰估计，基于固定时间滑动表面和固定时间到达策略开发FxTSMC，以形成系统的全局固定时间收敛。然后，将所提出的方法应用于PUMA560机器人的容错控制，并与其他最新的控制器进行了比较。