Fault-Tolerant Control for Systems With Unmatched Actuator Faults and Disturbances

• 成果类型: Article
• 署名作者: Zhang, Kangkang; Jiang, Bin; Yan, Xinggang; Mao, Zehui; Polycarpou, Marios M.
• 署名单位: Nanjing University of Aeronautics & Astronautics; University of Cyprus; University of Kent
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.2997347
• 发表日期: 2021
• 页码: 1725-1732
• 关键词: actuators; redundancy; Sliding mode control; Fault tolerant systems; Surface reconstruction; ELECTRONIC MAIL; fault-tolerant control (FTC); unmatched actuator faults; unmatched disturbances

摘要

A fault-tolerant control (FTC) scheme for a class of nonlinear systems with unmatched actuator redundancy and unmatched disturbances is proposed in this article. A methodology to construct unified smooth sliding mode control laws and update laws are proposed such that the equivalent injections of the first-order time derivatives of the unmatched actuator faults and unmatched disturbances can appear in the unmatched channels. The unmatched actuator faults and unmatched disturbances are completely canceled by these equivalent injections. Based on this methodology and using the backstepping design procedure, a set of smooth FTC sliding surfaces, FTC laws and update laws are then designed. With the help of the FTC law selecting mechanism, the output tracking errors of the closed-loop FTC system converge to zero asymptotically, and time-varying faults and disturbances are reconstructed. A simulation example is presented to illustrate the effectiveness of the proposed FTC method.