Adaptive actuator fault tolerant control for uncertain nonlinear systems with multiple actuators

被引：131
|
作者：
Yang, Qinmin [1 ]
Ge, Shuzhi Sam [2 ,3 ,4 ]
Sun, Youxian [1 ]
机构：
[1] Zhejiang Univ, Dept Control Sci & Engn, State Key Lab Ind Control Technol, Hangzhou 310027, Zhejiang, Peoples R China
[2] Univ Elect Sci & Technol China, Inst Robot, Chengdu 611813, Peoples R China
[3] Univ Elect Sci & Technol China, Sch Comp Sci & Engn, Chengdu 611813, Peoples R China
[4] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore
来源：
AUTOMATICA | 2015年 / 60卷
基金：
国家高技术研究发展计划(863计划);
关键词：
Actuator fault tolerant control; Neural networks; Nussbaum gain; Uncertain nonlinear systems; DELAY SYSTEMS; MIMO SYSTEMS; DESIGN; ACCOMMODATION; FAILURES; SCHEME;
D O I：
10.1016/j.automatica.2015.07.006
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a novel adaptive fault tolerant controller design is proposed for a class of nonlinear unknown systems with multiple actuators. The controller consists of an adaptive learning-based control law, a Nussbaum gain, and a switching function scheme. The adaptive control law is implemented by a two-layer neural network to accommodate the unknown system dynamics. Without the requirement of additional fault detection mechanism, the switching function is designed to automatically locate and turn off the unknown faulty actuators by observing a control performance index. The asymptotic stability of the system output in the presence of actuator failures is rigidly proved through standard Lyapunov approach, while the other signals of the closed-loop system are guaranteed to be bounded. The theoretical result is substantiated by simulation on a two-tank system. (C) 2015 Elsevier Ltd. All rights reserved,
引用
收藏
页码：92 / 99
页数：8
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