Abstract
This paper focuses on fast terminal sliding mode fault-tolerant control for a class of n-order nonlinear systems. Firstly, when the actuator fault occurs, the extended state observer (ESO) is used to estimate the lumped uncertainty and its derivative of the system, so that the fault boundary is not needed to know. The convergence of ESO is proved theoretically. Secondly, a new type of fast terminal sliding surface is designed to achieve global fast convergence, non-singular control law and chattering reduction, and the Lyapunov stability criterion is used to prove that the system states converge to the origin of the sliding mode surface in finite time, which ensures the stability of the closed-loop system. Finally, the effectiveness and superiority of the proposed algorithm are verified by two simulation experiments of different order systems.
Highlights
Nowadays, with the rapid development of science and technology, people have designed more and more complex high-precision systems, hoping that they can replace people to perform more complex and dangerous tasks
Fault-tolerant control is divided into two categories: passive fault-tolerant control (PFTC) and active fault-tolerant control (AFTC)
PFTC is developed from robust control, which does not require fault detection and diagnosis (FDD) module
Summary
With the rapid development of science and technology, people have designed more and more complex high-precision systems, hoping that they can replace people to perform more complex and dangerous tasks. The purpose of fault-tolerant control is to maintain the closed-loop stability of the system and meet certain performance indicators when the systems sensors, actuators or components fail, so as to complete the pre-specified tasks.[1] Under such background and requirements, fault-tolerant control has developed rapidly in recent years and has become one of the research hotspots in control discipline.[2,3,4]. PFTC is developed from robust control, which does not require fault detection and diagnosis (FDD) module. AFTC requires the FDD module to provide fault information, and achieve the purpose of fault tolerance by adjusting the control law or controller structure.[6] Obviously, for nonlinear systems with multiple uncertain factors, AFTC is more flexible and can achieve better control effects.[7]
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