Adaptive fault-tolerant control for uncertain nonlinear systems with both parameter estimator and controller triggering
Adaptive fault-tolerant control for uncertain nonlinear systems with both parameter estimator and controller triggering
In this paper, the fault-tolerant control (FTC) problem for a class of nonlinear systems with uncertain parameters and unknown actuator failures is studied. The considered failure number of times is not limited to be finite, and the input-to-state stable assumption is no longer needed. An adaptive FTC scheme is proposed based on event-triggered strategy. A set of event-triggering conditions are designed for not only the controller but also the parameter estimators, with which the parameter estimator-to-controller and controller-to-actuator channels are both event-triggered simultaneously. It is proved that, with our proposed scheme, all the closed-loop signals are globally uniformly bounded, and the system output converges into a compact set which can be made small by appropriately adjusting the design parameters. Also, the Zeno behavior is proved to be excluded. Besides, a modified FTC scheme is designed for the case with finite number of failures, which ensures the asymptotic convergence of system states. Finally, a robot manipulator example is employed to illustrate the effectiveness of the proposed schemes.
Actuator failures, Adaptive FTC, Event-triggered, Parameter estimator triggering, Uncertain nonlinear systems
Fan, Huijin
c2d58f76-05ea-416d-a5e9-ad971930d613
Fang, Xinpeng
135f800e-5011-4e4f-a483-f0d935ed85a4
Wang, Wei
40507c2b-bc53-4988-8b9b-8d60370fd44a
Huang, Jiangshuai
bb8859a8-2465-463f-91bf-f22bbcfd540b
Liu, Lei
51ddf4cf-b2db-43ad-8e3b-46f0e110f3b2
Fan, Huijin
c2d58f76-05ea-416d-a5e9-ad971930d613
Fang, Xinpeng
135f800e-5011-4e4f-a483-f0d935ed85a4
Wang, Wei
40507c2b-bc53-4988-8b9b-8d60370fd44a
Huang, Jiangshuai
bb8859a8-2465-463f-91bf-f22bbcfd540b
Liu, Lei
51ddf4cf-b2db-43ad-8e3b-46f0e110f3b2
Fan, Huijin, Fang, Xinpeng, Wang, Wei, Huang, Jiangshuai and Liu, Lei
(2023)
Adaptive fault-tolerant control for uncertain nonlinear systems with both parameter estimator and controller triggering.
Automatica, 151, [110954].
(doi:10.1016/j.automatica.2023.110954).
Abstract
In this paper, the fault-tolerant control (FTC) problem for a class of nonlinear systems with uncertain parameters and unknown actuator failures is studied. The considered failure number of times is not limited to be finite, and the input-to-state stable assumption is no longer needed. An adaptive FTC scheme is proposed based on event-triggered strategy. A set of event-triggering conditions are designed for not only the controller but also the parameter estimators, with which the parameter estimator-to-controller and controller-to-actuator channels are both event-triggered simultaneously. It is proved that, with our proposed scheme, all the closed-loop signals are globally uniformly bounded, and the system output converges into a compact set which can be made small by appropriately adjusting the design parameters. Also, the Zeno behavior is proved to be excluded. Besides, a modified FTC scheme is designed for the case with finite number of failures, which ensures the asymptotic convergence of system states. Finally, a robot manipulator example is employed to illustrate the effectiveness of the proposed schemes.
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Accepted/In Press date: 7 February 2023
e-pub ahead of print date: 2 March 2023
Additional Information:
Publisher Copyright:
© 2023 Elsevier Ltd
Keywords:
Actuator failures, Adaptive FTC, Event-triggered, Parameter estimator triggering, Uncertain nonlinear systems
Identifiers
Local EPrints ID: 495463
URI: http://eprints.soton.ac.uk/id/eprint/495463
ISSN: 0005-1098
PURE UUID: f45df41d-7d79-4df7-9dd0-23209cbc5bb8
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Date deposited: 14 Nov 2024 17:36
Last modified: 15 Nov 2024 03:13
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Contributors
Author:
Huijin Fan
Author:
Xinpeng Fang
Author:
Wei Wang
Author:
Jiangshuai Huang
Author:
Lei Liu
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