Adaptive Fault-Tolerant Control for Nonlinear System With Unknown Control Directions Based on Fuzzy Approximation
针对存在未建模动态和未知控制方向的非线性系统，利用Nussbaum增益技术和动态信号，结合自适应模糊控制与反步法，设计了一种模糊自适应故障补偿控制策略，保证所有信号半全局有界。
This paper focuses mainly on the approximation-based fuzzy adaptive fault-tolerant control problem for nonlinear systems with unmodeled dynamics and unknown control directions. With the Nussbaum gain technique and a dynamic signal introduced, the difficulties from the unknown control directions and unmodeled dynamics are successfully overcome. Then, by taking advantage of the adaptive fuzzy control method and backstepping technology, we develop a fuzzy adaptive failure compensation control strategy and guarantee the semi-global boundedness for all signals. A simulation example is carried out to demonstrate the validity of the theoretical findings.