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Adaptive fuzzy fault-tolerant control using Nussbaum-type function with state-dependent actuator failures

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Abstract

This paper presents an adaptive fuzzy fault-tolerant tracking control for a class of unknown multi-variable nonlinear systems, with external disturbances, unknown control sign, and actuator faults. By employing fuzzy logic systems, the unknown nonlinear dynamics and the state-dependent actuator faults are approximated, and by utilizing a Nussbaum-type function, the issue of unknown control sign is solved. The proposed control scheme is based on two forms, an adaptive fuzzy controller along with a robust controller that is equipped with a Nussbaum-type gain function, which guarantees stability with the boundedness of all signals involved in the closed-loop system. To prove the accuracy, and the effectiveness of the proposed control scheme, a simulation example on two-inverted pendulums system is carried out.

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Acknowledgments

This work was supported by Directorate General for Scientific Research and Technological Development (DGRSDT) and the Algerian Ministry of Higher Education and Scientific Research PRFU Project (A01L08UN250120180005), Algeria.

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  1. Signal Processing Laboratory, Department of Electronics, Faculty of Technology Sciences, Constantine 1 University, Constantine, Algeria

    Abdelhamid Bounemeur & Mohamed Chemachema

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  1. Abdelhamid Bounemeur
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Correspondence to Abdelhamid Bounemeur.

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Bounemeur, A., Chemachema, M. Adaptive fuzzy fault-tolerant control using Nussbaum-type function with state-dependent actuator failures. Neural Comput & Applic 33, 191–208 (2021). https://doi.org/10.1007/s00521-020-04977-6

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  • DOI: https://doi.org/10.1007/s00521-020-04977-6

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