Fixed-time trajectory tracking for multi-fault nonlinear systems: A passive fault-tolerant control scheme

Considering the issue that the current fixed-time stability theory has a setting-time upper bound far greater than the actual stability time, an improved fixed-time control scheme with a more compact setting-time upper bound is proposed. This scheme combines passive fault-tolerant control (FTC) and adaptive fuzzy technology to design an adaptive fuzzy fixed-time fault- tolerant controller that addresses the tracking control problem of uncertain nonlinear systems with multiple actuator faults and compensates for irregular nonlinear fluctuations of the system resulting from fault functions. Compared to active FTC, passive FTC has significant advantages in convergence speed and computational complexity due to not require fault detection and controller reconstruction. Additionally, considering multiple actuator faults and aiming for a more compact setting-time upper bound aligns better with the control requirements of practical industrial production. Finally, simulation results validate the effectiveness of the proposed controller.