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Backstepping adaptive fuzzy control of uncertain nonlinear systems against actuator faults

ISSN号：2095-6983
期刊名称：《控制理论与技术：英文版》
时间：0
分类：TP273[自动化与计算机技术—控制科学与工程;自动化与计算机技术—检测技术与自动化装置] TS190.4[轻工技术与工程—纺织化学与染整工程;轻工技术与工程—纺织科学与工程]
作者机构：[1]Key Laboratory of Integrated Automation for the Process Industry, Ministry of Education,and College of Information Science and Engineering, Northeastern University, Shenyang Liaoning 110004, China
相关基金：This work was partly supported by the Funds for Creative Research Groups of China （No.60821063）, the State Key Program of National Natural Science of China （No.60534010）, the National 973 Program of China （No.2009CB320604）, the Funds of National Science of China （No.60674021）, the 111 Project （B08015）, and the Funds of PhD program of MOE, China （No.20060145019）.

关键词：不确定非线性系统, 模糊控制方法, 执行器故障, 自适应, 反推法, 未知非线性系统, 外部干扰, 一致最终有界, Adaptive control, Fuzzy system, Backstepping, Uncertain nonlinear system, Actuator fault

中文摘要：

易于不明确的致动器差错和外部骚乱的未知非线性的系统的一个类将在模糊近似理论的帮助下在这篇论文被学习。用走技术的背，一条新奇适应模糊控制途径被建议在操作期间提供不明确的致动器差错并且尽管系统不能被反馈线性化，处理外部骚乱。考虑差错作为有效性和 lock-in-place 的两损失被建模(在某未知地方粘住) 。建议控制计划能保证是的靠近环的系统的所有信号，这被证明最终一致地半全球性跳了并且在系统输出和引用信号之间的追踪的错误收敛到零的一位小邻居，尽管象致动器差错和外部骚乱一样的控制系统的非线性的函数都是未知的。模拟结果表明控制途径的有效性。

英文摘要：

A class of unknown nonlinear systems subject to uncertain actuator faults and external disturbances will be studied in this paper with the help of fuzzy approximation theory. Using backstepping technique, a novel adaptive fuzzy control approach is proposed to accommodate the uncertain actuator faults during operation and deal with the external disturbances though the systems cannot be linearized by feedback. The considered faults are modeled as both loss of effectiveness and lock-in-place （stuck at some unknown place）. It is proved that the proposed control scheme can guarantee all signals of the closed-loop system to be semi-globally uniformly ultimately bounded and the tracking error between the system output and the reference signal converge to a small neighborhood of zero, though the nonlinear functions of the controlled system as well as the actuator faults and the external disturbances are all unknown. Simulation results demonstrate the effectiveness of the control approach.

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