Adaptive Fault-Tolerant Guaranteed Performance Control for Euler-Lagrange Systems With Its Application to a 2-Link Robotic Manipulator

This paper investigates a novel adaptive fault-tolerant guaranteed performance control problem for Euler-Lagrange systems subject to unknown actuator faults. Firstly, a barrier Lyapunov function instead of logarithmic transformation is constructed to handle the performance constraints imposed on the controlled system. Then, an adaptive control scheme is devised to guarantee the prescribed tracking performance with consideration of the unknown actuator faults. Compared with the existing works, the prominent advantage of the proposed control method is that the detailed actuator fault information is not required to identify online and the complex logarithmic transformation is avoided. In this sense, the complexity of the developed controller is decreased dramatically, which is easily achievable in practice. Finally, application to a 2-link robotic manipulator is organized to validate the effectiveness of the proposed control method.