Abstract
The adaptive fault tolerant control (FTC) problem is investigated for a class of high-order strict-feedback nonlinear systems with the actuator faults, and an adaptive fault tolerant control strategy is proposed in this paper. Compared with the traditional first-order strict-feedback nonlinear systems, high-order strict-feedback nonlinear systems are more general, but more difficult to handle. In particular, this system occurs actuator failure, which generates the additional terms. To address the unknown nonlinearities in the system, radial basis function neural networks are introduced to approximate the unknown continuous nonlinear functions. Based on Lyapunov stability theory, it is proved that the tracking error converges to a small adjustable neighborhood of the origin with all signals in the closed-loop system being bounded. Finally, a numerical example is used to verify the effectiveness of the control scheme proposed in this paper.
Highlights
Without doubt adaptive control for nonlinear systems is one of hot topics in control theory, which has gained a great deal of attention
In [16], an active fault-tolerant control (FTC) scheme was proposed for a class of uncertain nonlinear systems to solve the actuator failure compensation problem
1) Compared with the work [3], this paper considers the high-order strict-feedback nonlinear system where the system order is pi = 1 are extended to pi > 1
Summary
Without doubt adaptive control for nonlinear systems is one of hot topics in control theory, which has gained a great deal of attention. A class of strict-feedback high-order nonlinear systems is considered where pi > 1, i = 1, 2, . In [16], an active fault-tolerant control (FTC) scheme was proposed for a class of uncertain nonlinear systems to solve the actuator failure compensation problem. We consider the FTC problem of a class of strict-feedback high-order nonlinear systems with actuator faults, and investigate an adaptive FTC scheme to achieve better tracking performance when the actuator fails. A fault-tolerant control scheme based on neural network are proposed; 2) Compared with the work [14], the high-order strict-feedback nonlinear system with the actuator bias fault is considered. This paper studies the faulttolerant control of high-order nonlinear system, and only considers the bias fault.
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