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Fuzzy Fixed-Time Fault-Tolerant Control of Uncertain Nonlinear Systems with Non-affine Faults and Its Application in Manipulator Systems

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Abstract

This paper aims to solve two challenging problems in fuzzy control: the complexity explosion caused by iterative derivation of the virtual control laws in design process and the fuzzy adaptive feedback stability for a class of uncertain nonlinear systems. Firstly, the difficulty in backstepping control design for high-order nonlinear systems is solved by combining adding a power integrator method with the dynamic surface control technique and using the fuzzy logic system to approximate unknown nonlinear functions. Then, the non-affine fault of system states and control output can be transformed into a nonlinear one with unknown parameters. The proposed control strategy not only drives the tracking error to converge to an adjustable region of the origin within a fixed time, but also maintains the stability of the closed-loop systems. An advantage is that the convergence time does not depend on the initial state. Finally, the stabilization of a manipulator system is investigated to demonstrate the effectiveness of the control scheme.

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Author notes

  1. Yang Bai, Zong-Yao Sun, Chih-Chiang Chen and Qinghua Meng have contributed equally to this work.

Authors and Affiliations

  1. Institute of Automation, Qufu Normal University, Qufu, 273165, Shandong, China

    Yang Bai & Zong-Yao Sun

  2. Department of Systems and Naval Mechatronic Engineering, National Cheng Kung University, Tainan, 70101, Taiwan

    Chih-Chiang Chen

  3. School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou, 310018, Zhejiang, China

    Qinghua Meng

Authors
  1. Yang Bai
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  2. Zong-Yao Sun
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  3. Chih-Chiang Chen
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  4. Qinghua Meng
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Corresponding author

Correspondence to Zong-Yao Sun.

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Bai, Y., Sun, ZY., Chen, CC. et al. Fuzzy Fixed-Time Fault-Tolerant Control of Uncertain Nonlinear Systems with Non-affine Faults and Its Application in Manipulator Systems. Int. J. Fuzzy Syst. 26, 540–552 (2024). https://doi.org/10.1007/s40815-023-01614-x

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  • DOI: https://doi.org/10.1007/s40815-023-01614-x

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