Prescribed Performance Fault-Tolerant Control of Uncertain Nonlinear Systems With Unknown Control Directions

Zhang, Jinxi; Yang, Guang‐Hong

doi:10.1109/tac.2017.2705033

Cited by 293 publications

(187 citation statements)

References 24 publications

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“…As t <60 seconds, all the actuators are healthy, ie, τ f = τ . As t ≥60 seconds, the following constant actuator faults

τ_{f} = [\begin{matrix} 0.5 & 0 & 0 \\ 0 & 0.6 & 0 \\ 0 & 0 & 0.7 \end{matrix}] τ

occur, which means partial loss of effectiveness as commonly studied in other works, ie, the actuators τ u , τ v , and τ r lose 50%, 40%, and 30% of their effectiveness.…”

Section: Simulation Studymentioning

confidence: 89%

“…Motivated by other works,, the actuator faults are modeled by

τ_{f} = ρ τ + B false(t false),

where

ρ = diag false[ρ_{1}, ρ_{2}, ρ_{3} false] \in R^{3 \times 3}

stands for the matrix of multiplicative faults such as partial loss of effectiveness faults,

B false(t false) = {false[b_{1} false(t false), b_{2} false(t false), b_{3} false(t false) false]}^{T} \in R^{3}

denotes the vector of additive faults such as bias faults, and

τ \in R^{3}

stands for the control input.…”

Section: Problem Statement and Preliminariesmentioning

confidence: 99%

See 1 more Smart Citation

Fault‐tolerant leader‐follower formation control of marine surface vessels with unknown dynamics and actuator faults

Zhang

Yang

2018

Intl J Robust & Nonlinear

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Summary This paper concentrates on the leader‐follower formation control problem for marine surface vessels with unknown nonlinear dynamics and actuator faults. The unknown inertia matrix and multiplicative fault render the existing methods infeasible. To solve this problem, a low‐complexity prescribed performance controller is first proposed without the help of auxiliary neural/fuzzy systems or adaptive mechanisms. A modification technique is further adopted to relax the initial condition, such that global closed‐loop stability is guaranteed. Finally, simulation results illustrate the above theoretical results.

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“…As t <60 seconds, all the actuators are healthy, ie, τ f = τ . As t ≥60 seconds, the following constant actuator faults

τ_{f} = [\begin{matrix} 0.5 & 0 & 0 \\ 0 & 0.6 & 0 \\ 0 & 0 & 0.7 \end{matrix}] τ

occur, which means partial loss of effectiveness as commonly studied in other works, ie, the actuators τ u , τ v , and τ r lose 50%, 40%, and 30% of their effectiveness.…”

Section: Simulation Studymentioning

confidence: 89%

“…Motivated by other works,, the actuator faults are modeled by

τ_{f} = ρ τ + B false(t false),

where

ρ = diag false[ρ_{1}, ρ_{2}, ρ_{3} false] \in R^{3 \times 3}

stands for the matrix of multiplicative faults such as partial loss of effectiveness faults,

B false(t false) = {false[b_{1} false(t false), b_{2} false(t false), b_{3} false(t false) false]}^{T} \in R^{3}

denotes the vector of additive faults such as bias faults, and

τ \in R^{3}

stands for the control input.…”

Section: Problem Statement and Preliminariesmentioning

confidence: 99%

Fault‐tolerant leader‐follower formation control of marine surface vessels with unknown dynamics and actuator faults

Zhang

Yang

2018

Intl J Robust & Nonlinear

Self Cite

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“…Assumption (see References and ) Each virtual control coefficient is either strictly positive or strictly negative, that is, there exists an unknown constant

\underset{true_}{g} > 0

such that

\underset{true_}{g} \leq | g_{i} ({\underset{true_}{x}}_{i}) |, i = 1, \dots, n

.…”

Section: Problem Formulation and Preliminariesmentioning

confidence: 99%

“…The second one is about the robustness of the FTC scheme against other types of faults. As pointed out in Reference , the designed baseline controller is inherently robust with regard to certain process faults. However, such a property is lost in the presence of serious process faults.…”

Section: Actuator Failure Compensationmentioning

confidence: 99%

Supervisory switching‐based prescribed performance control of unknown nonlinear systems against actuator failures

Zhang

Yang

2020

Intl J Robust & Nonlinear

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Summary This article studies the fault‐tolerant control problem for unknown nonlinear strict‐feedback systems subject to actuator failures yet with dynamic redundancies. The prescribed performance control methodology is newly combined with a modification‐based supervisory switching strategy to solve the problem. To implement failure detection, the performance function is properly modified to synthesize a monitoring function to supervise the behavior of an error variable. Once a failure is detected, the current actuator is shut down and the backup actuator is switched in to execute the reconfigured control command. Compared with the existing results, (1) the postfailure and postswitching tracking performance is improved, other than uniform ultimate boundedness and (2) the dependence on extra robust control schemes (eg, adaptive or approximating structures) to deal with model uncertainties or the need to compute analytic derivatives of virtual control signals in the backstepping design is eliminated.

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“…Then, the tracking error can be guaranteed within a given prescribed boundary. The PPC method has been widely applied in practice such as vehicle active suspension systems [45,46], unmanned surface vehicle systems [47], nonlinear systems [48,49], fault-tolerant control [50], and robot manipulators [51]. On the other hand, the barrier Lyapunov function (BLF) is used as a constraint control which is utilized to transform the error into a new error without constraint [52].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Barrier Control for Nonlinear Servomechanisms with Friction Compensation

Wang

Gao

et al. 2018

Complexity

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This paper proposes an adaptive barrier controller for servomechanisms with friction compensation. A modified LuGre model is used to capture friction dynamics of servomechanisms. This model is incorporated into an augmented neural network (NN) to account for the unknown nonlinearities. Moreover, a barrier Lyapunov function (BLF) is utilized to each step in a backstepping design procedure. Then, a novel adaptive control method is well suggested to ensure that the full-state constraints are within the given boundary. The stability of the closed-loop control system is proved using Lyapunov stability theory. Comparative experiments on a turntable servomechanism confirm the effectiveness of the devised control method.

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Prescribed Performance Fault-Tolerant Control of Uncertain Nonlinear Systems With Unknown Control Directions

Cited by 293 publications

References 24 publications

Fault‐tolerant leader‐follower formation control of marine surface vessels with unknown dynamics and actuator faults

Fault‐tolerant leader‐follower formation control of marine surface vessels with unknown dynamics and actuator faults

Supervisory switching‐based prescribed performance control of unknown nonlinear systems against actuator failures

Adaptive Barrier Control for Nonlinear Servomechanisms with Friction Compensation

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