Prescribed Performance Fault-Tolerant Control of Uncertain Nonlinear Systems With Unknown Control Directions

A low-complexity state feedback fault-tolerant control scheme guaranteeing prescribed tracking performance is proposed for a family of uncertain nonlinear systems with unknown control directions. Contrary to the current state-of-the-art, novel error transformation functions and new update laws relat...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 62; no. 12; pp. 6529 - 6535
Main Authors Zhang, Jin-Xi, Yang, Guang-Hong
Format Journal Article
LanguageEnglish
Published IEEE 01.12.2017
Subjects
Actuators
Control design
Fault tolerance
Fault tolerant systems
Fault-tolerant control (FTC)
Nonlinear systems
prescribed performance
State feedback
uncertain nonlinear system
unknown control direction
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Summary:A low-complexity state feedback fault-tolerant control scheme guaranteeing prescribed tracking performance is proposed for a family of uncertain nonlinear systems with unknown control directions. Contrary to the current state-of-the-art, novel error transformation functions and new update laws related to performance functions are introduced to the control design such that no compensators or approximation structures are needed, in spite of actuation faults, component faults, and unknown nonlinearities. The proposed method is verified via a simulation on an inverted pendulum.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2017.2705033