Abstract
In this work, by integrating a virtual parameter separation technique and the error-shifting transformation, we develop a smooth fault-tolerant control (FTC) strategy for nonlinearly parameterized systems subject to actuation failures and unknown initial conditions. The essential step in control design lies in the introduction of a novel rate function and the utilization of which to build the error-shifting transformation, enabling the developed design method with the ability to steer the tracking error into a prescribed performance boundary within the pregiven settling time under arbitrary bounded (yet possibly uncertain/unknown) initial tracking conditions. Different from existing related methods, the key features of our adaptive tracking control are its independence of the initial condition and its minimum number of tuning parameters, namely, no matter how many unknown parameters are involved, only a single parameter estimation appears in each step of the backstepping design.
| Original language | English |
|---|---|
| Pages (from-to) | 6805-6823 |
| Number of pages | 19 |
| Journal | Journal of the Franklin Institute |
| Volume | 357 |
| Issue number | 11 |
| Early online date | 15 May 2020 |
| DOIs | |
| Publication status | Published - Jul 2020 |
| Externally published | Yes |
Bibliographical note
Publisher Copyright:© 2020
Funding
This work was supported in part by Zhejiang Lab under Grant 2019NB0AB06, in part by the Graduate Scientific Research and Innovation Foundation of Chongqing under Grant CYB19057, in part by the Fundamental Research Funds for the Central Universities under Grant 2019CDCGZDH337, in part by National Natural Science Foundation of China under Grant 61860206008, 61773081, 61933012, and 61833013, in part by China Scholarship Council, in part by the Chongqing Research Program of Basic Research and Frontier Exploration under Grant cstc2018jcyjAX0082, and in part by the Science and Technology Research Program of Chongqing Municipal Education Commission under Grant KJQN201903107.