An adaptive fuzzy design for fault-tolerant control of MIMO nonlinear uncertain systems

作者：Li Ping^*; Yang Guanghong

来源：Journal of Control Theory and Applications, 2011, 9(2): 244-250.

DOI：10.1007/s11768-011-8167-x

• Actuator fault
• Adaptive fuzzy
• Adaptive fuzzy control
• Additional control
• Approximation errors
• Backstepping procedure
• Closed loop stability
• Control methods
• Control schemes
• Design steps
• External disturbances
• Fault tolerant control
• MIMO nonlinear system
• Nonlinear functions
• Nonlinear uncertain systems
• Time varying
• Tracking performance

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.

• 出版日期2011