Saturation-tolerant prescribed control of MIMO nonlinear systems with actuator faults  

作　　者：Hao Lei Ruihang Ji Dongyu Li Shuzhi Sam Ge 

机构地区：[1]Electrical and Computer Engineering,National University of Singapore,Singapore,117583,Singapore [2]School of Cyber Science and Technology,Beihang University,Beijing,100191,China

出　　处：《Journal of Automation and Intelligence》2025年第1期10-20,共11页自动化与人工智能(英文)

基　　金：supported by the National Research Foundation Singapore under its AI Singapore Programme(Award Number:[AISG2-GC-2023-007]).

摘　　要：This paper addresses the tracking control problem of a class of multiple-input–multiple-output nonlinear systems subject to actuator faults.Achieving a balance between input saturation and performance constraints,rather than conducting isolated analyses,especially in the presence of frequently encountered unknown actuator faults,becomes an interesting yet challenging problem.First,to enhance the tracking performance,Tunnel Prescribed Performance(TPP)is proposed to provide narrow tunnel-shape constraints instead of the common over-relaxed trumpet-shape performance constraints.A pair of non-negative signals produced by an auxiliary system is then integrated into TPP,resulting in Saturation-tolerant Prescribed Performance(SPP)with flexible performance boundaries that account for input saturation situations.Namely,SPP can appropriately relax TPP when needed and decrease the conservatism of control design.With the help of SPP,our developed Saturation-tolerant Prescribed Control(SPC)guarantees finite-time convergence while satisfying both input saturation and performance constraints,even under serious actuator faults.Simulations are conducted to illustrate the effectiveness of the proposed SPC.

关 键 词：Prescribed performance control Input saturation Auxiliary system Actuator faults MIMO nonlinear systems Finite-time stability 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]