Adaptive Fuzzy Finite-Time Control of Nonlinear Systems With Actuator Faults

• Published in: IEEE transactions on cybernetics Vol. 50; no. 5; pp. 1786 - 1797
• Main Authors: Wang, Huanqing, Liu, Peter Xiaoping, Zhao, Xudong, Liu, Xiaoping
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.05.2020; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuator faults; Actuators; Adaptive control; adaptive fuzzy control; Adaptive systems; Backstepping; Controllers; Fault tolerance; Fault tolerant systems; Faults; Feedback control; Functionals; Fuzzy control; Fuzzy systems; Nonlinear control; Nonlinear systems; Tracking control; Tracking errors; Trajectory control
• ISSN: 2168-2267; 2168-2275; 2168-2275
• DOI: 10.1109/TCYB.2019.2902868

This paper addresses the trajectory tracking control problem of a class of nonstrict-feedback nonlinear systems with the actuator faults. The functional relationship in the affine form between the nonlinear functions with whole state and error variables is established by using the structure consistency of intermediate control signals and the variable-partition technique. The fuzzy control and adaptive backstepping schemes are applied to construct an improved fault-tolerant controller without requiring the specific knowledge of control gains and actuator faults, including both stuck constant value and loss of effectiveness. The proposed fault-tolerant controller ensures that all signals in the closed-loop system are semiglobally practically finite-time stable and the tracking error remains in a small neighborhood of the origin after a finite period of time. The developed control method is verified through two numerical examples.