Type-B Nussbaum function-based fault-tolerant control for a class of strict-feedback nonlinear systems |
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| Institution: | 1. Shandong Key Laboratory of Industrial Control Technology, School of Automation, Qingdao University, Qingdao, China;2. College of Science, Liaoning University of Technology, Jinzhou, China;1. Marine Electrical Engineering College, Dalian Maritime University, Dalian, Liaoning 116026, China;2. College of Science, Liaoning University of Technology, Jinzhou, Liaoning 121001, China;3. School of Navigation, Dalian Maritime University, Dalian, Liaoning 116026, China |
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| Abstract: | This paper studies the fault-tolerant control (FTC) problem of a class of strict-feedback nonlinear systems. First, we put forward a key theorem which shows that type-B Nussbaum functions can be extended to the cases containing multiple Nussbaum functions in the same Lyapunov inequality under certain conditions. Then, by using the techniques of Nussbaum functions and adaptive control, a new fault-tolerant control scheme is proposed. Compared with the previous work, this paper considers unknown time-varying control coefficients and unknown time-varying fault coefficients of actuators. It is proved that all the signals of the closed-loop system are globally bounded and the tracking error converges to zero asymptotically. Finally, simulations are provided to verify the effectiveness of the proposed control scheme. |
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