Adaptive fuzzy fault compensation tracking control for uncertain nonlinear systems with multiple sensor faults

摘要

This paper investigates the problem of fault-compensation tracking control for a class of uncertain nonlinear strict-feedback systems. The presence of multiple sensor faults leads to that the existing feedback control based on perfect measurement will be completely invalid and cannot achieve the desired tracking control. To solve this problem, a new-type control strategy is proposed. A cubic absolute-value Lyapunov stability theory is used to online estimating the fault information, and an adaptive signal compensation mechanism is proposed to eliminate the adverse effects caused by the sensor faults. It is proved that by applying the presented method, both the tracking performance and the boundedness of closed-loop signals can be guaranteed. Finally, simulation results are given to illustrate the established theoretical findings intuitively. (C) 2019 Elsevier B.V. All rights reserved.