Adaptive fault‐tolerant tracking control for nonlinear systems with unknown control coefficient and input saturation

• Published in: International journal of adaptive control and signal processing Vol. 37; no. 2; pp. 414 - 435
• Main Authors: Wei, Yongli, Sheng, Li, Fang, Jingtao, Gao, Ming
• Format: Journal Article
• Language: English
• Published: Bognor Regis Wiley Subscription Services, Inc 01.02.2023
• Subjects: Actuators; Adaptive control; adaptive disturbance observer; Coefficients; Disturbance observers; Drill bits; Dynamical systems; Error functions; fault‐tolerant tracking control; input saturation; Nonlinear control; Nonlinear systems; Saturation; Tracking control; unknown control coefficient
• ISSN: 0890-6327; 1099-1115
• DOI: 10.1002/acs.3547

Summary In this article, the tracking control problem is investigated for a class of nonlinear systems in the presence of unknown disturbance, input saturation, actuator fault, and unknown control coefficient. A novel disturbance observer‐based adaptive fault‐tolerant tracking control strategy is proposed with regard to nonlinear systems. Based on the Gaussian error function, the auxiliary dynamic system is designed to offset effects caused by the input saturation. Moreover, the Nussbaum‐type function is employed to avert control singularity and deal with the unknown control coefficient. A theoretical analysis indicates that the boundedness of all signals in the closed‐loop system can be guaranteed. Finally, two examples with one concerning the dynamic point‐the‐bit rotary steerable drilling tool system are given to confirm the validity of the method.