Adaptive asymptotic fault-tolerant tracking of uncertain nonlinear systems with unknown control directions

Abstract

In the article, the issues of asymptotic adaptive tracking control for the uncertain nonlinear systems in the presence of actuator faults and unknown control directions are investigated. By using the properties of the Nussbaum function and backstepping technique, the problems resulting from the unknown signs of the nonlinear control functions are circumvented successfully. Moreover, a new adaptive asymptotic tracking control method is presented with the fault-tolerant control framework, which is capable of realising zero-tracking performance. The stability of the controlled system is ensured through fractional Lyapunov stability analysis. Finally, the validity of the raised scheme is verified by a simulation example.

Keywords:

• Uncertain nonlinear system
• fault-tolerant control (FTC)
• adaptive asymptotic tracking control
• unknown control directions

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 Nos. 61973146, 61773188, 62173172), and in part by the Distinguished Young Scientific Research Talents Plan in Liaoning Province (Nos. XLYC1907077, JQL201915402).

Notes on contributors

Jin-Zi Yang

Jin-Zi Yang received the B.S. degree in mathematics and applied mathematics from Tangshan Normal University, China, in 2019. She is currently pursuing the M.S. degree in applied mathematics from the Liaoning University of Technology, Jinzhou, China. Her current research interests include fuzzy control theory, adaptive fuzzy control and nonlinear systems.

Yuan-Xin Li

Yuan-Xin Li received the B.S. degree in mathematics and applied mathematics from Qufu Normal University, China, in 2007, the M.S. degree in computational mathematics from the College of Mathematical Sciences, Dalian University of Technology, Dalian, China, in 2009, and the Ph.D. degree in control theory and control engineering from the College of Information Science and Engineering, Northeastern University, Shenyang, China, in 2017. He is currently a professor in the Department of Science, Liaoning University of Technology, Jinzhou, China. His research interests include adaptive fuzzy/ neural control, fault-tolerant control, event-triggered control and adaptive control of cyber-physical Systems.

Shaocheng Tong

Shaocheng Tong received the B.S. degree in Mathematics from Jinzhou Normal College, Jinzhou, China, the M.S. degree in Fuzzy Mathematics from Dalian Marine University, Dalian, China, and the Ph.D. degree in Fuzzy Control from the Northeastern University, Shenyang, China, in 1982, 1988, and 1997, respectively. He is currently a Professor with the College of Science, Liaoning University of Technology. His current research interests include fuzzy and neural networks control theory and nonlinear control, adaptive control, and system identification. Prof. Tong is an Associate Editor of IEEE Transitions on Fuzzy Systems and IEEE Transactions on Systems, Man, and Cybernetics: Systems and The International Journal of Fuzzy Systems, and Neurocomputing.