Fault-Tolerant Control of Robotic Arms Under Actuator and Sensor Faults

This paper investigates the trajectory tracking control problem of the robotic arm with external disturbances, actuator and sensor failures. By introducing a transformation function to adjust the error variables, the deferred output constraint can be ensured even with unknown Euler-Lagrange dynamics. Then, the closed-loop system with a simple control law is proved to be stable using Lyapunov stability theory. Finally, simulation of a double-jointed robotic arm is conducted to verify the effectiveness of the proposed algorithm.