Achieving Targeted Tracking Control Accuracy Within Given Timeframe for Arm-Hand Robotic Systems Under Actuation Faults

Jie SU; Pan LIU; Yongduan SONG

doi:10.1109/TSMC.2025.3560126

Achieving Targeted Tracking Control Accuracy Within Given Timeframe for Arm-Hand Robotic Systems Under Actuation Faults

Jie SU
, Pan LIU
, Yongduan SONG^*

^*Corresponding author for this work

Research output: Journal Publications › Journal Article (refereed) › peer-review

1 Citation (Scopus)

Abstract

Enhancing the dexterity and agility of integrated arm-hand robotic systems to emulate human-like capabilities is a highly desirable yet challenging task that existing control schemes struggle to accomplish. In this article, we introduce a prescribed-time fault-tolerant targeted tracking control method for integrated arm-hand robotic systems with actuator faults. The control strategy is based on dynamics modeling and the inherent properties of the robotic plants. The proposed method guarantees that the tracking error converges to a predetermined accuracy level within a specified timeframe, regardless of the system’s initial condition. Moreover, the closed-loop robotic systems can continue to operate seamlessly in the presence of actuator faults without requiring interference. Simulation experiments conducted on a single-finger robot and an anthropomorphic arm-hand robotic system validate the efficacy of the targeted tracking control algorithm proposed in this study.

Original language	English
Pages (from-to)	5207-5219
Number of pages	13
Journal	IEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume	55
Issue number	8
Early online date	1 May 2025
DOIs	https://doi.org/10.1109/TSMC.2025.3560126
Publication status	Published - Aug 2025
Externally published	Yes

Bibliographical note

This article was recommended by Associate Editor C. Yang.
Publisher Copyright:
© 2013 IEEE.

Funding

This work was supported in part by the National Key Research and Development Program of China under Grant 2022YFB4701400/4701401; in part by the Fundamental Research Funds for the Central Universities under Project 2024CDJYXTD007; in part by the Graduate Research and Innovation Foundation of Chongqing China under Grant CYS20069; in part by the National Natural Science Foundation of China under Grant 62403082, Grant 61933012, and Grant 62250710167; in part by Chongqing Top-Notch Young Talents Project under Grant cstc2024ycjhbgzxm0085; and in part by the Natural Science Foundation of Chongqing under Grant CSTB2023NSCQ-LZX0026.

Keywords

Achieving control accuracy
actuation faults
arm-hand robotic systems
dynamic modeling
given timeframe
targeted tracking control

Access to Document

10.1109/TSMC.2025.3560126

Cite this

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title = "Achieving Targeted Tracking Control Accuracy Within Given Timeframe for Arm-Hand Robotic Systems Under Actuation Faults",

abstract = "Enhancing the dexterity and agility of integrated arm-hand robotic systems to emulate human-like capabilities is a highly desirable yet challenging task that existing control schemes struggle to accomplish. In this article, we introduce a prescribed-time fault-tolerant targeted tracking control method for integrated arm-hand robotic systems with actuator faults. The control strategy is based on dynamics modeling and the inherent properties of the robotic plants. The proposed method guarantees that the tracking error converges to a predetermined accuracy level within a specified timeframe, regardless of the system{\textquoteright}s initial condition. Moreover, the closed-loop robotic systems can continue to operate seamlessly in the presence of actuator faults without requiring interference. Simulation experiments conducted on a single-finger robot and an anthropomorphic arm-hand robotic system validate the efficacy of the targeted tracking control algorithm proposed in this study.",

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AB - Enhancing the dexterity and agility of integrated arm-hand robotic systems to emulate human-like capabilities is a highly desirable yet challenging task that existing control schemes struggle to accomplish. In this article, we introduce a prescribed-time fault-tolerant targeted tracking control method for integrated arm-hand robotic systems with actuator faults. The control strategy is based on dynamics modeling and the inherent properties of the robotic plants. The proposed method guarantees that the tracking error converges to a predetermined accuracy level within a specified timeframe, regardless of the system’s initial condition. Moreover, the closed-loop robotic systems can continue to operate seamlessly in the presence of actuator faults without requiring interference. Simulation experiments conducted on a single-finger robot and an anthropomorphic arm-hand robotic system validate the efficacy of the targeted tracking control algorithm proposed in this study.

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KW - dynamic modeling

KW - given timeframe

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M3 - Journal Article (refereed)

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Achieving Targeted Tracking Control Accuracy Within Given Timeframe for Arm-Hand Robotic Systems Under Actuation Faults

Abstract

Bibliographical note

Funding

Keywords

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