Adaptive output-Feedback asymptotic tracking control for a class of nonlinear systems with actuator failure

作者：Ma, Zhiyao; Kang, Haobo^*; Ma, Hongjun

来源：JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2022, 359(5): 1881-1898.

DOI：10.1016/j.jfranklin.2022.01.037

• FAULT-TOLERANT CONTROL
• LARGE-SCALE SYSTEMS
• S FUZZY-SYSTEMS
• MULTIAGENT SYSTEMS
• STATE-FEEDBACK
• DESIGN
• SENSOR
• OBSERVER
• COMPENSATION

This study deals with the output-feedback asymptotic tracking control problem for a class of nonlinear strict-feedback systems with actuator loss of effectiveness failure. To handle with the output-feedback control issue in the presences of nonlinearities, a new reduced-order observer design is presented, by utilizing the dynamic gain technique, which not only eliminates the limitation that the Lipchitz coefficients are required to be known in the existing output-feedback results, but makes full use of the measurable information. Furthermore, a new failure compensation mechanism is proposed to erase the effect of actuator failure, by introducing a cubic absolute-value Lyapunov function method and a novel (sigma, sigma(f))-modification technique. Compared with the existing output-feedback failure compensation results, our proposed method can not only relax the assumption requirement on nonlinear function, i.e., the nonlinear function with respect to output y can be extended to the nonlinear one with respect to state variable (chi) over bar (i) in the means of asymptotic tracking, but also avoid the issue that the estimate for actuator efficiency indicator drifts to a large value suddenly. Further, within the framework of backstepping design, a new high-gain reduced-order observer based adaptive output-feedback failure compensation control is developed. Then, with the aid of Lyapunov analysis method, it is shown that all the signals in the closed-loop system are globally bounded, and the system output can asymptotically track a given reference signal. Finally, a simulation example is given to illustrate the efficiency of the proposed techniques.

• 单位
  东北大学; 中国科学院