Adaptive dynamic surface fault-tolerant control for uncertain non-affine pure feedback systems with input constraint
CHEN Long-sheng
WANG Qi
Abstract：Adaptive dynamic surface fault-tolerant control is proposed for uncertain non-affine pure feedback dynamic systems with input saturation and unpredictable actuation failures. Under the consideration of input saturation, the non-affine system is first transformed into a time-varying system with a linear structure using the mean value theory without drop-out of nonlinear characteristics;then, the bounded time varying parameters are estimated by adaptive algorithms with projection, the estimation error and external disturbance are compensated by employing nonlinear damping technology. By combining backstepping technique with dynamic surface control (DSC), Nussbaum function and hyperbolic tangent function, the designed algorithm can not only deal with the input saturation but also overcome the“explosion of com-plexity”problem and the possible“controller singularity”problem. Furthermore, the proposed control is fault-tolerant. Finally, based on Lyapunov stability theorem and decoupled backstepping method, the semi-global stability of the close-loop system is proved. The simulation results demonstrate the feasibility and validity of the proposed control schemes.
Keywords：input saturationnon-affine pure feedback systemdynamic surface control (DSC)backsteppingfault-tolerant control
Publication Date：2016-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：7( 221-227 )