Journal
IEEE TRANSACTIONS ON CYBERNETICS
Volume 51, Issue 2, Pages 568-578Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2019.2904768
Keywords
Backstepping; fault-tolerant control (FTC); full-state constraints; fuzzy adaptive; high gain observer; output feedback
Categories
Funding
- National Natural Science Foundation of China [61621004, 61703429, 61420106016]
- Research Fund of State Key Laboratory of Synthetical Automation for Process Industries [2018ZCX03]
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This paper proposes an observer-based fuzzy adaptive fault-tolerant tracking control method for uncertain nonlinear systems. By utilizing high gain state observer and disturbance observer, robust tracking performance is improved, introducing barrier-type functions and combining with projection technique to address related issues.
This paper focuses on the observer-based fuzzy adaptive fault-tolerant tracking control problem for uncertain nonlinear systems subject to unmeasured states and unmatched external disturbances. By designing a high gain state observer and a disturbance observer, unmeasured states and unmatched external disturbances are estimated and robust tracking performance is improved. Moreover, the barrier-type functions are introduced to the backstepping design procedure to address the problem that all states do not violate their constraint bounds. Finally, a novel fault-tolerant control scheme for output feedback is proposed by combining with the projection technique. By designing appropriate Lyapunov functions, it is concluded that all signals of the plant are bounded and the desired tracking error can be regulated to a small neighborhood around the origin. The simulation results show the effectiveness of the designed control scheme.
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