Finite-Time Adaptive Fault-Tolerant Control for a Class of Nonlinear Systems with Actuator Faults

Finite time adaptive filter control of nonlinear systems with actuator faults and state constraints

“…Remark 6. Different from the results in Wu wet al [32] and Sun et al [38], the finite time adaptive filter control problem is investigated for strict-feedback nonlinear systems with state constraints and actuator faults in this paper. By using first-order filtering, a novel controller and corresponding adaptive laws are designed with low computational complexity.…”

“…Tang et al [31], Wu et al [32], and Wang and Wu [33], with the utilization of the dynamic surface technique and backstepping approach, actuator faults and state constraints are simultaneously taken into consideration. Especially, inspired by Li [34], a finite time adaptive controller is developed to compensate the actuator faults with log-type barrier Lyapunov function.…”

“…In addition, as mentioned in Yin et al [13], Xu et al [17], and Wu et al [32], the actuator faults' model $$$ u $$$ considered in this paper includes lock‐in‐place and loss of efficiency, which are described as follows.…”

“…2. Without involving the computational complexity of the process of designing the controller as in Wang et al [23] and Wu et al [32], the dynamic surface control technique is combined on the basis of adaptive backstepping control and the first-order filtering scheme is then introduced in this paper.…”

“…Compared with the existing work, the major innovations of this paper can be briefly stated as below: The finite time adaptive filter control strategy can ensure that the system error converges to a small neighborhood of origin within the finite time, and the state constraints are not violated. Meanwhile, the excellent fault‐tolerant performance is obtained. Without involving the computational complexity of the process of designing the controller as in Wang et al [23] and Wu et al [32], the dynamic surface control technique is combined on the basis of adaptive backstepping control and the first‐order filtering scheme is then introduced in this paper. Different from the finite time tracking control in Tang et al [31], Wu et al [32], and Wang and Wu [33], with the utilization of the dynamic surface technique and backstepping approach, actuator faults and state constraints are simultaneously taken into consideration. Especially, inspired by Li [34], a finite time adaptive controller is developed to compensate the actuator faults with $$$ \mathit{\log} $$$‐type barrier Lyapunov function. …”