Adaptive fixed-time control for nonstrict-feedback nonlinear systems with full error constraints and actuator failures

Abstract

This paper investigates the adaptive fixed-time tracking control problem for a class of nonstrict-feedback systems with error constraints and actuator faults. With the help of the Barrier Lyapunov Function and backstepping technical, an improved adaptive fault-tolerant controller for the nonstrict-feedback system with error constraints and actuator faults is designed. In addition, fuzzy logic systems are employed to handle uncertain nonlinear terms. It is shown that the presented control scheme can guarantee that the tracking error converges to a small neighborhood of zero, and the system errors fall within the pre-set funnel in the fixed time. Meanwhile, all the signals of the closed-loop system are bounded in the fixed time. Finally, simulation studies are given to demonstrate the effectiveness of the proposed method.