Indirect adaptive fuzzy fault-tolerant tracking control for MIMO nonlinear systems with actuator and sensor failures

被引：127

作者：

Bounemeur, Abdelhamid ^{[1
]}

Chemachema, Mohamed ^{[1
]}

Essounbouli, Najib ^{[2
]}

机构：

[1] Univ Constantine 1, Fac Technol, Dept Elect, Campus A Harnani,Route Ain El Bey, Constantine 2500, Algeria

[2] Univ Reims Champagne Ardennes, CReSTIC Lab, Reims, France

来源：

ISA TRANSACTIONS | 2018年 / 79卷

关键词：

Adaptive fault-tolerant control; Fuzzy systems; MIMO unknown nonlinear systems; Backstepping method; Sensor faults; Actuator faults; OUTPUT-FEEDBACK CONTROL; SPACE HYPERSONIC VEHICLE; DISCRETE-TIME-SYSTEMS; CONTROL DESIGN; NETWORKED SYSTEMS; NEURAL-NETWORKS; SCHEME; STABILIZATION; DELAY;

D O I：

10.1016/j.isatra.2018.04.014

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, an active fuzzy fault tolerant tracking control (AFFTTC) scheme is developed for a class of multi input multi-output (MIMO) unknown nonlinear systems in the presence of unknown actuator faults, sensor failures and external disturbance. The developed control scheme deals with four kinds of faults for both sensors and actuators. The bias, drift, and loss of accuracy additive faults are considered along with the loss of effectiveness multiplicative fault. A fuzzy adaptive controller based on back-stepping design is developed to deal with actuator failures and unknown system dynamics. However, an additional robust control term is added to deal with sensor faults, approximation errors, and external disturbances. Lyapunov theory is used to prove the stability of the closed loop system. Numerical simulations on a quadrotor are presented to show the effectiveness of the proposed approach.

引用

页码：45 / 61

页数：17

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