Robust Active Fault-tolerant Control for a Class of Uncertain Nonlinear Systems with Actuator Faults
نویسندگان
چکیده
For a class of uncertain nonlinear systems with actuator faults, robust active fault-tolerant control is investigated based on the adaptive observer, feedback linearization, and backstepping design theory. Time-varying faults and bounded uncertainty are simultaneously considered in the paper. An adaptive observer is firstly constructed to estimate the faults and then a backstepping-based active fault-tolerant controller is designed to compensate for the faults. The main theoretical contributions of this work are a new fault updating law which relaxes the assumption conditions of the fault diagnosis observer and a new recursive control law for tracking the time-varying reference input signal. The asymptotical stability of the closed-loop fault-tolerant control system is proved by Lyapunov theorem. The numerical simulation results demonstrate the application and effectiveness of the proposed scheme.
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