Adaptive fault-tolerant control for high-order fully actuated system with full-state constraints |
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| Institution: | 1. School of Information and Control Engineering, Qingdao University of Technology, Qingdao, Shandong 266520, PR China;2. School of Engineering, Qufu Normal University, Rizhao, Shandong 276826, PR China;3. School of Automation, Southeast University, Nanjing, Jiangsu 210096, PR China;1. Department of Control Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;2. School of Business, University of Shanghai for Science and Technology, Shanghai 200093, China;1. Department of Mechanical Engineering and Science, Kyoto University, Kyoto, Japan;2. Department of Electronics and Information Systems Engineering, Osaka Institute of Technology, Osaka, Japan;1. School of Automation, Nanjing University of Science and Technology, Nanjing, Jiangsu 210094, China;2. School of Automation, Southeast University, Nanjing, Jiangsu, 210096, China;1. College of Science, Hohai University, Nanjing 210098, PR China;2. School of Mathematics and Informational Science, Yantai University, Yantai 264005, PR China;3. School of Mathematics, Southeast University, Nanjing 210096, China;4. Yonsei Frontier Lab, Yonsei University, Seoul 03722, South Korea;5. School of Automation and Electrical Engineering, Linyi University, Linyi 276005, China;1. School of Civil Engineering, School of Mechanical and Electrical Engineering, Guangzhou University, Guangzhou 510000, China;2. School of Electrical Engineering and Intelligentization, Dongguan University of Technology, Dongguan 523000, China;3. School of Mechanical Engineering, Yanshan University, Qinhuangdao 066000, China |
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| Abstract: | This paper studies the adaptive tracking control problem for a class of uncertain high-order fully actuated (HOFA) systems with actuator faults and full-state constraints. Firstly, we design a novel nonlinear transformation function (NTF) only related to state and constraint boundaries and capable of handling asymmetric time-varying constraints. With the designed function, we obtain an equivalent totally unconstrained HOFA model which is generally simpler to design controllers than first-order state-space model. Then, the adaptive fault-tolerant controller is constructed with the help of the HOFA approach. By applying the Lyapunov stability theory, it is rigorously proved that the output tracking error converges to zero asymptotically, other signals of the resulting closed-loop systems are bounded, and full-state constraints are not violated for all time. Finally, the simulation results verify the efficiency of the proposed control design method. |
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