Command filter-based fault-tolerant fast finite-time control of manipulator systems with sensor faults and event-triggered technology

For the trajectory tracking problem of a single-joint manipulator system with sensor faults. A fuzzy control system incorporating command filtering and event-triggered technology is devised to enhance system tracking accuracy. The problems of complicated calculation and influence of the filtering errors are solved by the introduction of the finite-time command filters and a compensation mechanism. During the controller design process, fuzzy logic systems are utilized to deal with the unknown functions in the systems. Hence, the suggested control scheme enhances the convenience and flexibility of controller design. Based on the numerical simulation analysis, it is shown that the better tracking performance can be achieved. In conclusion, it is concluded that our strategy is effective.