Model-free fault-tolerant control approach for uncertain state-constrained linear systems with actuator faults

摘要

This paper investigates the robust adaptive fault-tolerant control problem for state-constrained continuous-time linear systems with parameter uncertainties, external disturbances, and actuator faults including stuck, outage, and loss of effectiveness. It is assumed that the knowledge of the system matrices, as well as the upper bounds of the disturbances and faults, is unknown. By incorporating a barrier-function like term into the Lyapunov function design, a novel model-free fault-tolerant control scheme is proposed in a parameter-dependent form, and the state constraint requirements are guaranteed. The time-varying parameters are adjusted online based on an adaptive method to prevent the states from violating the constraints and compensate automatically the uncertainties, disturbances, and actuator faults. The time-invariant parameters solved by using data-based policy iteration algorithm are introduced for helping to stabilize the system. Furthermore, it is shown that the states converge asymptotically to zero without transgression of the constraints and all signals in the resulting closed-loop system are uniformly bounded. Finally, two simulation examples are provided to show the effectiveness of the proposed approach. Copyright (c) 2016 John Wiley & Sons, Ltd.