Adaptive output-Feedback asymptotic tracking control for a class of nonlinear systems with actuator failure

Ma, Zhiyao; Kang, Haobo; Ma, Hongjun

doi:10.1016/j.jfranklin.2022.01.037

Cited by 6 publications

(1 citation statement)

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“…Therefore, the possible faults should be considered in the actual control, and the fault-tolerant controller should be designed to improve the reliability and safety of the system. In [10], the problem of asymptotic tracking control for nonlinear systems with actuator fault was investigated. In [11], a robust fault estimation observer was designed for a class of linear sampled data systems with external disturbances, but the boundary of external disturbances was known, moreover, the active fault-tolerant control method was not adopted.…”

Section: Introductionmentioning

confidence: 99%

Appointed-Time Prescribed Performance Fault Tolerant Control for QUAV With Actuator Fault and Model Parameters Uncertainties

Han

Zhen

et al. 2022

IEEE Access

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In this paper, an appointed-time prescribed performance fault-tolerant control (ATPPFTC) method for quadrotor unmanned aerial vehicle (QUAV) system is studied in the presence of model parameters uncertainties, actuator faults and external disturbances. For the position loop and the attitude loop, the proposed method overcomes the model parameters uncertainties caused by the changes of rotary inertia, the mass and aerodynamic damping coefficients. Meanwhile, unknown actuator faults and unknown external disturbances are investigated by using adaptive method. Moreover, a new appointed-time prescribed performance function and coordinate transformation are introduced to impose performance characteristics on the tracking errors. Based on the Lyapunov stability theory, an adaptive dynamic surface control method is proposed to ensure that the position and attitude tracking errors of the closed-loop system can achieve the appointed-time convergence and prescribed transient and steady-state performance. Incidentally, the convergence speed and convergence time of the system tracking error can be set flexibly. Finally, the simulation verifies the effectiveness and superiority of the proposed control scheme from both qualitative and quantitative aspects.

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Section: Introductionmentioning

confidence: 99%