Adaptive prescribed-time control for uncertain nonlinear systems with non-affine actuator failures

Ziwei Wang, Hak Keung Lam, Zhang Chen*, Bin Liang, Tao Zhang

*Corresponding author for this work

Research output: Contribution to journalConference paperpeer-review

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Abstract

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.

Original languageEnglish
Pages (from-to)3821-3828
Number of pages8
JournalIFAC-PapersOnLine
Volume53
DOIs
Publication statusPublished - 2020
Event21st IFAC World Congress 2020 - Berlin, Germany
Duration: 12 Jul 202017 Jul 2020

Keywords

  • Adaptive control
  • Fault-tolerant control
  • Nonlinear systems
  • Prescribed-time stability
  • Unmodeled actuator fault

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