Robust Adaptive Fault-Tolerant Control for a Class of Uncertain Nonlinear Time Delay Systems
针对一类具有多状态时滞扰动的Lipschitz非线性系统，提出一种自适应容错控制方案，通过引入非线性控制增益函数和边界估计方法，完全补偿未知时滞、外部干扰和执行器故障的影响，确保闭环信号有界且状态渐近收敛到零。
This paper is concerned with the adaptive fault-tolerant control problem for a class of Lipschitz nonlinear systems with multiple delayed-state perturbations. By introducing a positive nonlinear control gain function, a bound estimation approach and an integrable auxiliary signal, the effects of the unknown time-delay functions, external disturbances, and actuator faults can be compensated completely. It is shown that the closed-loop signals are bounded and the system state converges to zero asymptotically by the proposed control scheme. In comparing with the existing results, the time delays and actuator faults are allowed to be time varying and stuck, respectively. The obtained results are illustrated by a simulation example.