Tuning function-based fault-tolerant finite-time control for nonlinear systems with sensor/actuator faults

Abstract

This paper discusses the adaptive fault-tolerant finite-time control tracking problem for a class of strict-feedback nonlinear systems with multiple faults and disturbances. Our essay focuses on the problem of over-parameterisation in traditional backstepping methods. A new fault-tolerant control scheme is proposed by combining tuning function with fuzzy control technology and finite-time control. This scheme greatly simplifies the process of derivation and computation and avoids high computational cost and high memory consumption. Thus the purpose of improving the reliability and robustness of the system is achieved. Finally, according to the Lyapunov finite-time stability theory, the proposed method can ensure that the closed-loop system remains semi-globally practically finite-time stable and the tracking errors converge to a small neighbourhood near the origin in finite time under the condition of unmatched disturbances and sensor/actuator faults simultaneously. The effectiveness of the proposed control strategy is verified by a simulation example.