Adaptive finite-time fault-tolerant tracking control for a class of MIMO nonlinear systems with output constraints

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109 Scopus citations

Abstract

In this work, we present a novel adaptive finite-time fault-tolerant control algorithm for a class of multi-input multi-output nonlinear systems with constraint requirement on the system output tracking error. Both parametric and nonparametric system uncertainties can be effectively dealt with by the proposed control scheme. The gain functions of the nonlinear systems under discussion, especially the control input gain function, can be not fully known and state-dependent. Backstepping design with a tan-type barrier Lyapunov function and a new structure of stabilizing function is presented. We show that under the proposed control scheme, finite-time convergence of the output tracking error into a small set around zero is guaranteed, while the constraint requirement on the system output tracking error will not be violated during operation. An illustrative example on a robot manipulator model is presented in the end to further demonstrate the effectiveness of the proposed control scheme.

Original languageEnglish
Pages (from-to)722-741
Number of pages20
JournalInternational Journal of Robust and Nonlinear Control
Volume27
Issue number5
DOIs
StatePublished - Mar 25 2017

Bibliographical note

Publisher Copyright:
Copyright © 2016 John Wiley & Sons, Ltd.

Keywords

  • actuator fault
  • adaptive finite-time control
  • nonlinear systems
  • output constraint

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Chemical Engineering
  • Biomedical Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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