Abstract
This work deals with the tracking control problem of a class of unknown nonaffine dynamic systems that involve unpredictable sensor and actuation failures. As the control inputs enter into and influence the dynamic behavior of the nonaffine system through a nonlinear and implicit way, control design for such system becomes quite challenging. The underlying problem becomes even more complex if the system dynamics are unavailable for control design yet involving unanticipated sensor and/or actuator faults. In this work, a structurally simple and computationally inexpensive control scheme is proposed to achieve uniformly ultimately bounded (UUB) stable tracking control of a class of nonaffine systems. The proposed control is of a generalized PI form and is able to accommodate both sensor and actuator faults. The effectiveness of the proposed control strategy is confirmed by theoretical analysis and numerical simulations. © 2013 Elsevier B.V. All rights reserved.
| Original language | English |
|---|---|
| Pages (from-to) | 86-95 |
| Number of pages | 10 |
| Journal | Systems and Control Letters |
| Volume | 64 |
| Issue number | 1 |
| Early online date | 4 Jan 2014 |
| DOIs | |
| Publication status | Published - Feb 2014 |
| Externally published | Yes |
Bibliographical note
The constructive suggestion and comments from the anonymous reviewers are also greatly appreciated.Funding
This work was supported in part by the National Key Basic Research Program of China-973 (No. 2012CB215202 ), and the National Natural Science Foundation of China (No. 61134001 ) as well as Innovation Foundation of Beijing Jiaotong University ( 2013YJS023 ).
Keywords
- Actuator failures
- Fault-tolerant
- Generalized control
- Lipschitz condition
- Nonaffine systems
- Sensor failures