A Novel Finite-Time Fault Observer for the Actuators of the Industrial Manipulator

A novel fault observer which can accomplish fast finite-time convergence is proposed for the second-order manipulator system with disturbance and actuator faults in this paper. When the degree of actuator fault exceeds the upper bound on the external disturbance, both the fault and disturbance are considered as lumped actuator faults for estimation. A fast finite-time extended fault observer is constructed and demonstrated for estimating the total fault with uniformly and ultimately boundedness. The effiectiveness and superiority of the developed fault observer are illustrated by comparative experiment results on a two-joint manipulator model.