Robust adaptive fuzzy fault-tolerant control for a class of non-lower-triangular nonlinear systems with actuator failures

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• 作者：Huanqing Wang ; ^a ; ^c ; ^{ndwhq@163.com" class="auth_mail" title="E-mail the corresponding author} ; Xiaoping Liu^b ; Peter Xiaoping Liu^c ; Shuai Li^d
• 关键词：Non-lower-triangular nonlinear systems ; Adaptive fuzzy control ; Actuator failures ; Backstepping
• 刊名：Information Sciences
• 出版年：2016
• 出版时间：1 April 2016
• 年：2016
• 卷：336
• 期：Complete
• 页码：60-74
• 全文大小：869 K

文摘

In this paper, the problem of adaptive fuzzy fault-tolerant tracking control is studied for a class of non-lower-triangular nonlinear systems with actuator failures. According to the same structure of virtual control inputs and the monotonously increasing property of the bounding functions, a variable separation approach is proposed. By applying the backstepping technique, an adaptive fuzzy control approach is presented which can guarantee the semi-global boundedness of all signals within the closed-loop system. The tracking error using the proposed control scheme eventually converges to a small neighborhood of the origin.