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Finite Time Adaptive Fault-tolerant Control for Nonlinear MIMO Systems with Actuator Faults

Wenshun Lv
International Journal of Control, Automation, and Systems, vol. 20, no. 1, pp.99-108, 2022

Abstract : In this paper, a finite-time adaptive tracking control scheme is proposed for a class of multi-input multioutput (MIMO) uncertain nonlinear systems with actuator faults. The presented control scheme does not rely on the exact model of system and actuator faults. The fuzzy logic systems are employed to approximate the unknown nonlinearities and the backstepping technique is implemented to construct controllers, accommodating for both system uncertainties and unknown actuator faults. The practical finite-time stability of closed-loop system is proved by the Lyapunov theory. A numerical simulation example is included to verify the effectiveness of the developed approach.

Keyword : Actuator faults, adaptive fuzzy backstepping control, finite-time stability, MIMO nonlinear systems.

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