Adaptive Prescribed-Time Control for Uncertain Nonlinear Systems with Non-affine Actuator Failures ?

摘要

In this paper, we present a novel prescribed-time fault-tolerant control method for a class of nonlinear systems with time-varying unmodeled actuator faults. Non-affine actuator failures and uncertain control direction can be addressed in a universal control framework, where any prior information about faults is not required in control design. We show that, with the proposed control scheme, the system trajectory can converge to a user-defined residual-set within prescribed settling time. The requirements on pre-assigned rapidity and accuracy can be simultaneously satisfied, leading to the settling time and convergence set only determined by fewer user-defined parameters rather than approximation errors, which is fundamentally different from conventional finite/fixed-time control. Simulation and experiment results are provided to validate the effectiveness of the proposed controller.