Backstepping adaptive fuzzy control of uncertain nonlinear systems against actuator faults  

作　　者：Ping LI Guanghong YANG 

机构地区：[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

出　　处：《控制理论与应用（英文版）》2009年第3期248-256,共9页

基　　金：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);the Funds of PhD program of MOE,China (No.20060145019)

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.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.

关 键 词：Adaptive control Fuzzy system BACKSTEPPING Uncertain nonlinear system Actuator fault 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TS190.4[自动化与计算机技术—控制科学与工程]