Prescribed-time fault-tolerant tracking control for Markov jump nonlinear systems based on saturation dynamics filters

Abstract

This paper investigates the problem of prescribed-time fault-tolerant tracking control for a class of Markov jump nonlinear systems affected by actuator faults and input saturation. First, a new time-varying constraint function and an error transformation are invoked to transform the original prescribed-time tracking control problem into a tracking control problem with deferred constraint for tracking error. Furthermore, the parameter correction terms are designed, on which a novel Markov jump saturation dynamic filter is constructed to handle the unfavorable effect of input saturation. Meanwhile, the projection operator technique and the norm estimation methodology are integrated to devise adaptive laws to estimate the unknown actuator faults evolving in accordance with the Markov chain. A new prescribed-time fault-tolerant tracking control scheme is put forward that realizes the deferred constraint on the tracking error, which in turn ensures that the tracking error of the system converges to a prescribed accuracy within a prescribed-time. Finally, two simulation examples, one of which implements a prescribed-time fault-tolerant tracking control for rotary steerable drilling tool system, are presented to illustrate the effectiveness and practicality of the developed scheme.