TY - JOUR
T1 - Adaptive prescribed-time control for uncertain nonlinear systems with non-affine actuator failures
AU - Wang, Ziwei
AU - Lam, Hak Keung
AU - Chen, Zhang
AU - Liang, Bin
AU - Zhang, Tao
N1 - Funding Information:
This research was supported by the National Natural Science Foundation of China (Grant No. 61673239, 61703228); Science and technology project of Shenzhen (Grant No. JCYJ20160428182227081, JCYJ20160301100921349); Science and Technology Planning Project of Guangdong Province (Grant No. 2017B010116001).
Publisher Copyright:
Copyright © 2020 The Authors.
PY - 2020
Y1 - 2020
N2 - In this paper, we present a novel prescribed-time fault-tolerant control method for a class of nonlinear systems with time-varying unmodeled actuator faults. Non-affine actuator failures and uncertain control direction can be addressed in a universal control framework, where any prior information about faults is not required in control design. We show that, with the proposed control scheme, the system trajectory can converge to a user-defined residual-set within prescribed settling time. The requirements on pre-assigned rapidity and accuracy can be simultaneously satisfied, leading to the settling time and convergence set only determined by fewer user-defined parameters rather than approximation errors, which is fundamentally different from conventional finite/fixed-time control. Simulation and experiment results are provided to validate the effectiveness of the proposed controller.
AB - In this paper, we present a novel prescribed-time fault-tolerant control method for a class of nonlinear systems with time-varying unmodeled actuator faults. Non-affine actuator failures and uncertain control direction can be addressed in a universal control framework, where any prior information about faults is not required in control design. We show that, with the proposed control scheme, the system trajectory can converge to a user-defined residual-set within prescribed settling time. The requirements on pre-assigned rapidity and accuracy can be simultaneously satisfied, leading to the settling time and convergence set only determined by fewer user-defined parameters rather than approximation errors, which is fundamentally different from conventional finite/fixed-time control. Simulation and experiment results are provided to validate the effectiveness of the proposed controller.
KW - Adaptive control
KW - Fault-tolerant control
KW - Nonlinear systems
KW - Prescribed-time stability
KW - Unmodeled actuator fault
UR - http://www.scopus.com/inward/record.url?scp=85107772550&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2020.12.2558
DO - 10.1016/j.ifacol.2020.12.2558
M3 - Conference paper
AN - SCOPUS:85107772550
SN - 2405-8963
VL - 53
SP - 3821
EP - 3828
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
T2 - 21st IFAC World Congress 2020
Y2 - 12 July 2020 through 17 July 2020
ER -