Fault compensation control of MIMO nonlinear systems subject to unknown control directions

• Published in: Nonlinear dynamics Vol. 107; no. 1; pp. 1063 - 1079
• Main Authors: Dun, Yi-Fan, Wu, Li-Bing, Hu, Yu-Han, Fan, Jun-Mei, Zhang, Zhi-Guo
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.01.2022; Springer Nature B.V
• Subjects: Actuators; Approximation; Automotive Engineering; Classical Mechanics; Compensation; Control; Control algorithms; Control systems; Controllers; Dynamical Systems; Engineering; Feedback control; Mechanical Engineering; Neural networks; Nonlinear control; Nonlinear systems; Original Paper; State feedback; Vibration; MIMO nonlinear systems; Prescribed performance control (PPC); Unknown control directions; Fault-tolerant control (FTC)
• ISSN: 0924-090X; 1573-269X
• DOI: 10.1007/s11071-021-07052-4

This study is primarily focused on the issue of low-complexity prescribed performance fault compensation for multi-input and multi-output uncertain nonlinear systems with actuator failures, coupling states, and unknown control directions. First of all, proper logarithm-type error conversion functions and smooth orientation functions are linked to design the continuous control signals in the state feedback controller. Then, based on the idea of proof by contradiction, it is shown that the state errors converge to a predictable compact aggregate at the definite rate. Meanwhile, the boundedness of any closed-loop signals might be guaranteed. The numerical and actual simulation examples are delivered to demonstrate the effectiveness of the developed control strategy at last.