摘要
This paper presents a novel control method for accommodating actuator faults in a class of multiple-input multiple-output (MIMO) nonlinear uncertain systems.The designed control scheme can tolerate both the time-varying lock-in-place and loss of effectiveness actuator faults.In each subsystem of the considered MIMO system,the controller is obtained from a backstepping procedure;an adaptive fuzzy approximator with minimal learning parameterization is employed to approximate the package of unknown nonlinear functions in each design step.Additional control effort is taken to deal with the approximation error and external disturbance together.It is proven that the closed-loop stability and desired tracking performance can be guaranteed by the proposed control scheme.An example is used to show the effectiveness of the designed controller.
This paper presents a novel control method for accommodating actuator faults in a class of multiple-input multiple-output (MIMO) nonlinear uncertain systems.The designed control scheme can tolerate both the time-varying lock-in-place and loss of effectiveness actuator faults.In each subsystem of the considered MIMO system,the controller is obtained from a backstepping procedure;an adaptive fuzzy approximator with minimal learning parameterization is employed to approximate the package of unknown nonlinear functions in each design step.Additional control effort is taken to deal with the approximation error and external disturbance together.It is proven that the closed-loop stability and desired tracking performance can be guaranteed by the proposed control scheme.An example is used to show the effectiveness of the designed controller.
基金
supported by the Research Start Project for Talents of Huaqiao University (No. 10BS108)
the Project of Technology Plan of Fujian Province (No. 2009H0033)
the Funds for Creative Research Groups of China (No. 60821063)
the National Natural Science Foundation of China(No. 60974043,60904010)
