Adaptive Fuzzy Decentralized Control for a Class of Large-Scale Nonlinear Systems With Actuator Faults and Unknown Dead Zones
针对一类存在未知死区和执行器故障（包括中断、失效和卡死）的不确定大规模非线性系统，提出了一种基于模糊逻辑和边界估计的分散反步容错跟踪控制器，能完全补偿故障和死区影响，且不限制故障次数、允许卡死故障时变。
This paper studies the fault-tolerant control problem for a class of uncertain large-scale nonlinear systems with unknown dead zones and actuator failures, including outage, loss of effectiveness, and stuck. It is assumed that the lower and upper bounds of actuator efficiency factor, the unparametrizable time-varying stuck fault, the system coefficient, and the uncertain functions of our considered systems are unknown. By introducing a smooth function, fuzzy logic systems and a bound estimation approach, a decentralized backstepping design method of fault-tolerant tracking controller is developed for the systems under consideration. The proposed controller can compensate the effects of actuator faults and dead zones completely. It is proved that all the signals in the closed-loop systems are ultimately bounded, and the tracking control performance can be achieved by the proposed controller. In comparing with the existing results, the restrictions on the number of failures are removed and the stuck fault is allowed to be time-varying. Finally, simulation results show the efficiency of the proposed control scheme.