Fault-tolerant control for second-order nonlinear systems with actuator faults via zero-sum differential game

Abstract

Stable operations of control systems play a vital role in mission accomplishments of the second-order nonlinear systems, such as six-axis robots used in intelligent production lines, industrial equipment and control systems. In this paper, a fault-tolerant control scheme is developed for a class of second-order nonlinear control system under actuator bias faults and loss of effectiveness faults via the zero-sum differential game method. Based on the backstepping method, a controller is designed to ensure system tracking performance. Then by the zero-sum differential game method, a fault-tolerant controller is designed for the equivalent error system. Simulation results show the validity of the designed fault-tolerant control scheme.