Fuzzy adaptive command filtered backstepping fault-tolerant control for a class of nonlinear systems with actuator fault |
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| Institution: | 1. College of Automation and Electronic Engineering, Qingdao University of Science and Technology, Qingdao 266061, PR China;2. Faculty of Information Technology, Beijing University of Technology, Beijing 100124, PR China;1. School of Mathematics, East China University of Science and Technology, Shanghai 200237, China;2. Key Laboratory of Smart Manufacturing in Energy Chemical Process, Ministry of Education, East China University of Science and Technology, Shanghai 200237, China;1. Department of Biomedical Engineering, University of Groningen and University Medical Centre Groningen, 9713 GZ Groningen, The Netherlands;2. The Research Institute of Intelligent Control and Systems, School of Astronautics, Harbin Institute of Technology, Harbin 150001, China;1. Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin 150001, China;2. School of computer science, Harbin University of Science and Technology, Harbin 150001, China |
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| Abstract: | This paper investigates a class of nonlinear systems with actuator fault. In particular, fuzzy logic systems have been used to approximate the unknown nonlinear functions, backstepping procedure is adopted to design controller for the system with mismatched condition, command filter is utilized to eliminate the explosion of complexity of the backstepping and also to compensate the output of a filter subjected to the derivative of the virtual control. The stability of the closed-loop system and the convergence of the tracking error are proved via Lyapunov Theorem. In addition, two numerical simulation examples are illustrated the effectiveness of the proposed approach. |
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