1. Hierarchical Fuzzy Fault-Tolerant Controller Synthesis for Finite-Time Multitarget Surrounding of Networked Perturbed Mechanical Systems
- Author
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Ge, Ming-Feng, Dong, Jiu-Wang, Liu, Zhi-Wei, Yan, Huaicheng, Liang, Chang-Duo, and Xu, Kun-Ting
- Abstract
This article investigates the hierarchical synthesis of fuzzy fault-tolerant controllers for networked perturbed mechanical systems to solve the problem of finite-time multitarget surrounding, namely, encircling multiple moving targets in a finite time. Given the system with actuator failures, faults, and perturbations (namely, parametric uncertainties and external disturbances), we propose a hierarchical framework for synthesizing a cascade-form controller to stabilize the system state in a finite time, as well as decouple and solve the abovementioned problem. Specifically, the methods of fuzzy logic systems and finite-time adaptive laws are included within the synthesized controller to approximate the unknown perturbations, and meanwhile to compensate the negative effects of the actuator failures and faults. By employing the theories of perturbations and fault-tolerant analysis, we derive the sufficient conditions on control gains for finite-time convergence of the closed-loop system. Finally, we carry out several simulation experiments on a network of six 2-DOF robots and four moving targets to verify the performance of the synthesis method and the obtained controller.
- Published
- 2023
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