Disturbance Observer-Based Fault-Tolerant Adaptive Control for Nonlinearly Parameterized Systems

被引：63

作者：

Liu, Wenhui ^{[1
,2
]}

Li, Ping ^{[3
,4
]}

机构：

[1] Nanjing Normal Univ, Sch Elect & Automat Engn, Nanjing 210023, Jiangsu, Peoples R China

[2] Nanjing Inst Intelligent High End Equipment Ind, Nanjing 210042, Jiangsu, Peoples R China

[3] Nanjing Univ Sci & Technol, Sch Automat, Nanjing 210094, Jiangsu, Peoples R China

[4] Shandong Univ Sci & Technol, Coll Math & Syst Sci, Qingdao 266590, Shandong, Peoples R China

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2019年 / 66卷 / 11期

基金：

中国国家自然科学基金;

关键词：

Adaptive control; disturbance observer; fault-tolerant control (FTC); nonlinear systems; FINITE-TIME STABILIZATION; ORDER; ROBUST; COMPENSATION; DESIGN; DELAY;

D O I：

10.1109/TIE.2018.2889634

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper aims at the fault-tolerant adaptive control for the nonlinearly parameterized systems with mismatched disturbances. A novel adaptive control scheme is developed in this paper by adding a power integrator technique. The mismatched disturbances are estimated by a designed disturbance observer. A new fault-tolerant control method is proposed to deal with the uncertain actuator faults including actuator stuck. The proposed adaptive controller ensures that the closed-loop system is input-to-state stable. Simulation results for a robotic arm system are given to present the effectiveness of the developed control technique.

引用

页码：8681 / 8691

页数：11

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