Performance guaranteed fault control of uncertain constrained nonaffine systems under input quantization and actuation failures

Abstract

SummaryThis paper investigates the tracking control problem for a class of uncertain nonaffine system in the presence of input quantization and saturation yet possibly faulty actuators. A quantized robust adaptive fault‐tolerant control scheme capable of guaranteeing performance specifications is developed. By injecting quantizer parameters into the control design and using performance transformation, a constrained robust adaptive fault‐tolerant control scheme is developed to cope with modeling uncertainties, actuation saturation, and actuation faults, ensuring uniformly ultimately bounded stable tracking with the prescribed performance. The effectiveness of the proposed control strategy is confirmed by systematic stability analysis and simulation.

Predefined-time attitude takeover control of spacecraft with quantized states

“…In Ref. 20, the logarithmic quantizer is used to quantize the control torque signal, and the quantization error is related to the states. When input signal is large, control accuracy will decrease.…”

Discrete‐time prescribed performance controller based on affine data‐driven model

“…• The model called ADM has an advantage over others such that the the logarithmic quantizer 24 and the linearization based on pseudo gradient schemes 21,25 when the resetting algorithm is generally required so that, it can support only one-sign of control direction.…”

“…Thereafter, the control law is designed by the tracking error transformation of the PPC scheme to guarantee the tracking performance for both transient and steady states. The contributions of this work can be summarized as the followings: The model called ADM has an advantage over others such that the the logarithmic quantizer 24 and the linearization based on pseudo gradient schemes 21,25 when the resetting algorithm is generally required so that, it can support only one‐sign of control direction. Unlike other PPC schemes, 11,12,22 the tracking error is guaranteed by the prescribed boundary for both positive and negative control directions which can vary along with the operating range. …”