The University of Southampton
University of Southampton Institutional Repository

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
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
0005-1098
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).

Record type: Article

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.

This record has no associated files available for download.

More information

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
ORCID for Xinpeng Fang: ORCID iD orcid.org/0000-0003-1390-1927

Catalogue record

Date deposited: 14 Nov 2024 17:36
Last modified: 15 Nov 2024 03:13

Export record

Altmetrics

Contributors

Author: Huijin Fan
Author: Xinpeng Fang ORCID iD
Author: Wei Wang
Author: Jiangshuai Huang
Author: Lei Liu

Download statistics

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics

Atom RSS 1.0 RSS 2.0

Contact ePrints Soton: eprints@soton.ac.uk

ePrints Soton supports OAI 2.0 with a base URL of http://eprints.soton.ac.uk/cgi/oai2

This repository has been built using EPrints software, developed at the University of Southampton, but available to everyone to use.

We use cookies to ensure that we give you the best experience on our website. If you continue without changing your settings, we will assume that you are happy to receive cookies on the University of Southampton website.

×