Abstract
The present paper devotes to propose a general active fault-tolerant control (GAFTC) for a class of unknown multi-input multi-output (MIMO) nonlinear systems that are subject to simultaneous additive and multiplicative sensor and nonaffine nonlinear state-dependent actuator faults, exogenous disturbances and multiple unknown control directions. By combining fuzzy logic systems and back-stepping technique, an adaptive control unit along with a robust control unit are developed. In the proposed approach, the unknown dynamics along with sensor and non-affine nonlinear state-dependent actuator faults are approximated to avoid developing fault detection and isolation unit. Furthermore, the difficulty caused by the unknown control gain directions is solved by using the Nussbaum-type function. The adaptation mechanism is proposed to overcome fuzzy approximation errors and exogenous disturbances, and the Butterworth low-pass filter is adopted to get rid of the algebraic loop appearing in the actuator faults approximation. The stability of the closed-loop system is proved by Lyapunov method where all the signals involved in the resulting closed-loop system are shown to be bounded, and the tracking errors converge asymptotically to the origin. Quadrotor attitude dynamics stabilization is proposed in the simulation study to test the accuracy and the effectiveness of the proposed control scheme.
Published Version
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