Adaptive quantised fault-tolerant tracking control of uncertain nonlinear systems with unknown control direction and the prescribed accuracy

ABSTRACT

In this paper, the problem of adaptive fault-tolerant tracking control for a class of uncertain nonlinear systems in the presence of input quantisation and unknown control direction is considered. By choosing a class of particular Nussbaum functions, an adaptive fault-tolerant control scheme is designed to compensate actuator faults and input quantisation while the control direction is unknown. Compared with the existing results, the proposed controller can directly compensate for the nonlinear term caused by actuator faults and the nonlinear decomposition on the quantiser without estimating its bound. Furthermore, via Barhalant's Lemma, it is proven that all the signals of the closed-loop system are globally uniformly bounded and the tracking error converges into a prescribed accuracy in prior. Finally, an illustrative example is used for verifying effectiveness of the proposed approach.

KEYWORDS:

• Fault-tolerant control
• input quantisation
• unknown control direction
• adaptive backstepping technique

Acknowledgment

The authors would like to thank the associate editor and anonymous reviewers for their insightful comments, which improved the quality of this article.

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported in part by the Funds of National Science of China [grant number 61621004], [grant number 61403176], [grant number 61473067], [grant number 61420106016], and the Research Fund of State Key Laboratory of Synthetical Automation for Process Industries [grant number 2013ZCX01-01].

Notes on contributors

Yan-Hui Jing

Yan-Hui Jing received the B.S. degree from the School of Mathematics and Statistics, Xinyang Normal University, Xinyang, China, in 2011, and the M.S. degree in School of Science from Yanshan University, Qinhuangdao, China, in 2015. Currently, he is pursuing the Ph.D. degree in control theory and control engineering from Northeastern University, Shenyang, China. His current research interests include adaptive robust control, fault-tolerant control, and neural networks control.

Guang-Hong Yang

Guang-Hong Yang received the B.S. and M.S. degrees from Northeast Uni- versity of Technology, Liaoning, China, in 1983 and 1986, respectively, and the Ph.D. degree in Control Engineering from Northeastern University, China (for- merly, Northeast University of Technology), in 1994. He was a Lecturer/Associate Professor with Northeastern University from 1986 to 1995. He joined the Nanyang Technological University in 1996 as a Postdoctoral Fellow. From 2001 to 2005, he was a Research Scientist/Senior Research Scientist with the National University of Singapore. He is currently a Professor at the College of Informa- tion Science and Engineering, Northeastern University. His current research interests include fault-tolerant control, fault detection and isolation, non-fragile control systems design, and robust control. Dr. Yang is an Associate Editor for the International Journal of Control, Automation, and Systems (IJCAS), the International Journal of Systems Science (IJSS), the IET Control Theory & Applications, and the IEEE Transactions on Fuzzy Systems.