Prescribed Performance Fault-Tolerant Control of Nonlinear Systems Via Actuator Switching

• Published in: IEEE transactions on fuzzy systems Vol. 32; no. 3; pp. 1 - 10
• Main Authors: Zhang, Chen-Liang, Guo, Ge
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.03.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuator faults; Actuators; Adaptive control; Algorithms; Control systems; dynamic redundancy; Fault tolerance; Fuzzy control; Fuzzy logic; fuzzy logic system; Heuristic algorithms; Monitoring; Nonlinear control; Nonlinear systems; Nonlinearity; prescribed performance control; Redundancy; Switches; Switching; Tracking errors; Vehicle dynamics
• ISSN: 1063-6706; 1941-0034
• DOI: 10.1109/TFUZZ.2023.3317017

This paper investigates a prescribed performance control (PPC) problem of nonlinear strict- feedback systems subject to actuator faults. By introducing <inline-formula><tex-math notation="LaTeX">ln</tex-math></inline-formula>-type performance functions, a constraint of output tracking error is established to prescribe the performance. Via the use of mapping and barrier error transformations, the constraint-handling issue is converted into a stabilization one of unconstrained variable. Then an adaptive controller involving a fuzzy logic system (FLS) to approximate the unknown nonlinearity is devised to stabilize the transformed variable, resulting to a universal PPC algorithm that applies to all types of asymmetric prescribed performance requirements. To prevent such requirements from being violated due to actuator faults, a novel dynamic redundancy mechanism is incorporated to implement the performance monitoring and switching from the faulty actuator to a healthy one. Two simulation examples are presented to verify the effectiveness and superiority of the proposed scheme.