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Adaptive robust fault-tolerant control for nonlinear systems with prescribed performance

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Abstract

Based on prescribed performance, backstepping, and \(H_{\infty }\) techniques, adaptive robust fault-tolerant control for strict-feedback nonlinear systems with prescribed performance is investigated in the paper. A prescribed performance function, which is characterized by the maximum overshoot, convergence rate, and steady-state error, is utilized for the output error transformation. Based on the error transformation model, an adaptive robust fault-tolerant controller is designed, which guarantees that the output tracking error is bounded by the prescribed performance function and the effect of external disturbances and approximation errors is attenuated by \(H_{\infty }\) tracking performance. The compensation control strategy is adopted in the fault-tolerant control system, where the fault functions are approximated by neural networks. It is shown by Lyapunov stability theory that the state trajectories of the closed-loop system are bounded, the prescribed dynamic performance for the output tracking error is achieved, and the \(H_{\infty }\) tracking performance is guaranteed whether the faults occur or not. Finally, comparative simulation results show the effectiveness of the proposed approach.

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Authors and Affiliations

  1. University of Science and Technology Liaoning, Anshan, 114044, Liaoning, People’s Republic of China

    Ming Chen & Xiaoping Liu

  2. Department of Electrical Engineering, Lakehead University, Thunder Bay, ON, P7B 5E1, Canada

    Xiaoping Liu

  3. School of Mathematics and Physics, Bohai University, Jinzhou, 121000, Liaoning, People’s Republic of China

    Huanqing Wang

Authors
  1. Ming Chen
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  2. Xiaoping Liu
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  3. Huanqing Wang
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Corresponding author

Correspondence to Xiaoping Liu.

Additional information

This work is supported by the Natural Science Foundation of China(61403177).

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Chen, M., Liu, X. & Wang, H. Adaptive robust fault-tolerant control for nonlinear systems with prescribed performance. Nonlinear Dyn 81, 1727–1739 (2015). https://doi.org/10.1007/s11071-015-2102-5

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