Multichannel asynchronous triggering-based adaptive output feedback control for uncertain nonlinear systems with actuator faults
Multichannel asynchronous triggering-based adaptive output feedback control for uncertain nonlinear systems with actuator faults
In this paper, an adaptive event-triggered output feedback FTC scheme is proposed for a class of uncertain nonlinear systems with unknown actuator faults. Multiple channels, including the state estimation filter-to-controller channel, the parameter estimator-to-controller channel and the controller-to-actuator channel, are all event-triggered. Meanwhile, by designing a series of uncorrelated triggering conditions, the triggering of different channels is independent and asynchronous. Therefore, the communication and computation burden of the system can be released. Meanwhile, the signal transmission frequency of each channel can be adjusted independently. It is proved that, with our proposed control scheme, all the closed-loop signals are bounded and the output tracking error converges into an adjustable residual set. Also, the Zeno behavior can be excluded. Finally, the scheme is applied to a robot manipulator and the simulation results illustrate the effectiveness of the proposed control scheme.
actuator faults, adaptive control, Multichannel asynchronous triggering, nonlinear systems, output feedback control
IEEE Industrial Electronics Society
Fang, Xinpeng
135f800e-5011-4e4f-a483-f0d935ed85a4
Fan, Huijin
c2d58f76-05ea-416d-a5e9-ad971930d613
Liu, Lei
51ddf4cf-b2db-43ad-8e3b-46f0e110f3b2
Wang, Bo
c7e48a2e-8790-4e1f-9740-5b50dd713030
16 November 2023
Fang, Xinpeng
135f800e-5011-4e4f-a483-f0d935ed85a4
Fan, Huijin
c2d58f76-05ea-416d-a5e9-ad971930d613
Liu, Lei
51ddf4cf-b2db-43ad-8e3b-46f0e110f3b2
Wang, Bo
c7e48a2e-8790-4e1f-9740-5b50dd713030
Fang, Xinpeng, Fan, Huijin, Liu, Lei and Wang, Bo
(2023)
Multichannel asynchronous triggering-based adaptive output feedback control for uncertain nonlinear systems with actuator faults.
In IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society.
IEEE Industrial Electronics Society..
(doi:10.1109/IECON51785.2023.10312295).
Record type:
Conference or Workshop Item
(Paper)
Abstract
In this paper, an adaptive event-triggered output feedback FTC scheme is proposed for a class of uncertain nonlinear systems with unknown actuator faults. Multiple channels, including the state estimation filter-to-controller channel, the parameter estimator-to-controller channel and the controller-to-actuator channel, are all event-triggered. Meanwhile, by designing a series of uncorrelated triggering conditions, the triggering of different channels is independent and asynchronous. Therefore, the communication and computation burden of the system can be released. Meanwhile, the signal transmission frequency of each channel can be adjusted independently. It is proved that, with our proposed control scheme, all the closed-loop signals are bounded and the output tracking error converges into an adjustable residual set. Also, the Zeno behavior can be excluded. Finally, the scheme is applied to a robot manipulator and the simulation results illustrate the effectiveness of the proposed control scheme.
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Published date: 16 November 2023
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Publisher Copyright:
© 2023 IEEE.
Venue - Dates:
49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023, , Singapore, Singapore, 2023-10-16 - 2023-10-19
Keywords:
actuator faults, adaptive control, Multichannel asynchronous triggering, nonlinear systems, output feedback control
Identifiers
Local EPrints ID: 495636
URI: http://eprints.soton.ac.uk/id/eprint/495636
ISSN: 2162-4704
PURE UUID: 7842589a-d8ca-4c95-8bc8-a22ce00f6523
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Date deposited: 19 Nov 2024 17:51
Last modified: 21 Nov 2024 03:11
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Contributors
Author:
Xinpeng Fang
Author:
Huijin Fan
Author:
Lei Liu
Author:
Bo Wang
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