Adaptive fixed-time fault-tolerant control of saturated MIMO nonlinear systems with time-varying state constrains

Fang, Xinpeng, Fan, Huijin, Liu, Lei and Wang, Bo (2022) Adaptive fixed-time fault-tolerant control of saturated MIMO nonlinear systems with time-varying state constrains. Nonlinear Dynamics, 110 (4), 3463-3483. (doi:10.1007/s11071-022-07784-x).

Abstract

In this paper, the adaptive fixed-time fault-tolerant control (FTC) problem is investigated for a class of uncertain multi-input multi-output (MIMO) nonlinear systems. By utilizing the radial basis function neural networks (NNs), a state observer is designed to estimate the unmeasured states. Then, an observer-based adaptive fixed-time FTC scheme is proposed, which is capable to deal with the unknown actuator faults, asymmetric time-varying state constraints and input saturation simultaneously. It is shown that the boundedness of all the closed-loop signals can be guaranteed, and system output tracks the desired signal to a bounded compact set in fixed time, while the asymmetric time-varying state constraint requirements are not violated. Moreover, the bound of the settling time is independent of the initial states and related to the designed parameters only. Simulation results on a dynamic mechanical system demonstrate the effectiveness of the proposed FTC scheme.

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Contributors

Author: Xinpeng Fang

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