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摘要
Based on prescribed performance, backstepping, and techniques, adaptive robust fault-tolerant control for strict-feedback nonlinear systems with prescribed performance is investigated in the paper. A prescribed performance function, which is characterized by the maximum overshoot, convergence rate, and steady-state error, is utilized for the output error transformation. Based on the error transformation model, an adaptive robust fault-tolerant controller is designed, which guarantees that the output tracking error is bounded by the prescribed performance function and the effect of external disturbances and approximation errors is attenuated by tracking performance. The compensation control strategy is adopted in the fault-tolerant control system, where the fault functions are approximated by neural networks. It is shown by Lyapunov stability theory that the state trajectories of the closed-loop system are bounded, the prescribed dynamic performance for the output tracking error is achieved, and the tracking performance is guaranteed whether the faults occur or not. Finally, comparative simulation results show the effectiveness of the proposed approach.
