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Performance recovery-based low-computation adaptive self-triggered fault-tolerant control for nonlinear systems with actuator replacement and unmatched disturbances

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Abstract

In this paper, a low-computation adaptive fault-tolerant control (FTC) scheme is proposed for a class of strict-feedback nonlinear systems with unmatched disturbances. In contrast to existing FTC schemes, a method called delayed actuator replacement is taken into account, that is, the backup actuator cannot be connected to the system immediately after failure detection. In order to restore the tracking error to the prescribed performance within a specified time, a set of shifting functions is established to derive new error variables. In addition, by introducing two novel error transformation functions, the designed low-computation adaptive control method overcomes the complexity explosion problem and simplifies the design process. Furthermore, a self-triggered mechanism is designed to improve the transmission efficiency of the whole system. The validity of our control scheme is demonstrated through a simulation example.

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Acknowledgements

This research work was funded by Institutional Fund Projects under grant no. (IFPIP: 134-611-1443). The authors gratefully acknowledge technical and financial support provided by the Ministry of Education and King Abdulaziz University, DSR, Jeddah, Saudi Arabia.

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Authors and Affiliations

  1. College of Control Science and Engineering, Bohai University, Jinzhou, 121013, Liaoning, China

    Yuhang Wu

  2. College of Information Science and Technology, Bohai University, Jinzhou, Liaoning, 121013, China

    Ning Xu

  3. School of Information Science and Engineering, Shandong Normal University, Jinan, 250014, China

    Ben Niu

  4. Communication Systems and Networks Research Group, Department of Information Technology, Faculty of Computing and Information Technology, King Abdulaziz University, Jeddah, Saudi Arabia

    Adil M. Ahmad

  5. College of Control Science and Engineering, Bohai University, Jinzhou, 121013, Liaoning, China

    Xudong Zhao

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  1. Yuhang Wu
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Correspondence to Yuhang Wu.

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Wu, Y., Xu, N., Niu, B. et al. Performance recovery-based low-computation adaptive self-triggered fault-tolerant control for nonlinear systems with actuator replacement and unmatched disturbances. Nonlinear Dyn 111, 19613–19628 (2023). https://doi.org/10.1007/s11071-023-08956-z

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