This study addresses a novel discrete finite-time fault compensation method for a quadruped robot leg when the parameter uncertainties and the actuator faults affect the robot dynamics. The occurrence times, shapes, and pattern of the faults are completely unknown. The actuator faults and dynamic uncertainties are reconstructed precisely in finite-time based on discrete-time super twisting estimator. The lumped fault estimator has simple structure. Defining a hybrid high-order sliding surface, a constructive fault-tolerant tracking controller is achieved. The proposed controllers guarantee robustness against uncertainties associated with the robotic manipulator and all type of actuator faults. It is guaranteed that all signals in the closed-loop system are finite-time stable. Finally, experiments are performed on one leg of a quadruped robot to evaluate the effectiveness and feasibility of the proposed control scheme.

当参数不确定性和执行器故障影响机器人动力学时，本研究针对四足机器人腿提出了一种新颖的离散有限时间故障补偿方法。断层的发生时间，形状和模式是完全未知的。基于离散时间超扭曲估计器，可以在有限时间内精确地重建执行器故障和动态不确定性。集总故障估计器具有简单的结构。定义一个混合的高阶滑动表面，可以实现一个建设性的容错跟踪控制器。所提出的控制器可确保鲁棒性，以防止与机器人操纵器和所有类型的执行器故障相关的不确定性。确保闭环系统中的所有信号都是有限时间稳定的。最后，