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Robust Adaptive Fault-Tolerant Control for a Class of Unknown Nonlinear Systems.
- Source :
- IEEE Transactions on Industrial Electronics; Jan2017, Vol. 64 Issue 1, p585-594, 10p
- Publication Year :
- 2017
-
Abstract
- This paper studies the fault-tolerant tracking control problem for a class of strict-feedback nonlinear systems subjected to actuator faults and external disturbances. The prior knowledge for actuator fault, nonlinearity, and external disturbance is totally unknown, besides the control directions. Based on a backstepping approach, an adaptive fault-tolerant control scheme is developed, without utilizing neural networks. In the control design, a group of new feedback mechanisms are proposed to compensate for the unknown system dynamics and actuator faults. Furthermore, to relax a requirement of the initial system states, a modification technique is designed to adjust the reference signal and virtual control laws for a short time. It is shown that the global closed-loop stability is guaranteed and the tracking performance is achieved. The above result is illustrated via simulations on a one-link manipulator and a ship autopilot. [ABSTRACT FROM PUBLISHER]
Details
- Language :
- English
- ISSN :
- 02780046
- Volume :
- 64
- Issue :
- 1
- Database :
- Complementary Index
- Journal :
- IEEE Transactions on Industrial Electronics
- Publication Type :
- Academic Journal
- Accession number :
- 120167592
- Full Text :
- https://doi.org/10.1109/TIE.2016.2595481