Robust adaptive fault-tolerant control for time delay uncertain nonlinear systems with time-varying performance bounds

Abstract

In this paper, a robust adaptive fault tolerant controller guaranteeing with time-varying performance bounds is designed for a class of time delay uncertain nonlinear systems subject to actuator failures and external disturbance. The influence of time delay on the system is mitigated and the system performance can be guaranteed by introducing a positive nonlinear control gain function and the generalised restricted potential function. A new method with more design degrees of freedom is developed to ensure the norm of the system state within a-priori, user-defined time varying performance bounds. Using the online estimation information provided by adaptive mechanism, a robust adaptive fault-tolerant control method guaranteeing time varying performance bounds is proposed. It is shown that all the signals of the resulting closed-loop system are bounded and the system state less than a-priori, user-defined performance bounds. Finally, simulation results are given to demonstrate the efficacy of the proposed fault-tolerant control method.

Keywords:

• adaptive control
• fault-tolerant control
• time-varying time delay
• actuator faults
• nonlinear system
• time-varying performance bounds

Acknowledgments

This work was supported in part by the National Natural Science Foundation of China under Grant 61873056, Grant 61473068, Grant 61621004 and Grant 61420106016, the Fundamental Research Funds for the Central Universities in China under Grant N170405004, N182608004 and the Research Fund of State Key Laboratory of Synthetical Automation for Process Industries in China under Grant 2013ZCX01.

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

This work was supported in part by the National Natural Science Foundation of China under Grant 61873056, Grant 61473068, Grant 61621004 and Grant 61420106016, the Fundamental Research Funds for the Central Universities in China under Grant N170405004, N182608004 and the Research Fund of State Key Laboratory of Synthetical Automation for Process Industries in China under Grant 2013ZCX01.

Notes on contributors

Shuyi Xiao

Shuyi Xiao received the B.S.degree in automation from Taiyuan University of Technology, Taiyuan, China, in 2016, and the M.S. degree in control theory and control engineering from Northeastern University, Shenyang, China, in 2018, where she is currently pursuing the Ph.D. degree in control theory and control engineering. Her current research interests include fault-tolerant control, adaptive control and cyber-physical system security.

Jiuxiang Dong

Jiuxiang Dong received the B.S.degree in mathematics and applied mathematics, the M.S. degree in applied mathematics from Liaoning Normal University, China, in 2001 and 2004, respectively. He received the Ph.D. degree in navigation guidance and control from Northeastern University, China in 2009. He is currently a Professor at the College of Information Science and Engineering, Northeastern University. His research interests include fuzzy control, robust control and reliable control.