Adaptive Fault-Tolerant Compensation Control and Its Application to Nonlinear Suspension Systems
针对带有死区执行器和随机故障的不确定非线性纯反馈系统，提出一种自适应容错补偿控制方法，通过反步法设计补偿方案，保证闭环系统解唯一且有界，并能实现任意小的跟踪误差，在主动悬架系统中验证了有效性。
In this paper, an adaptive fault-tolerant method is proposed to synthesize a compensation controller for the uncertain nonlinear pure-feedback systems possessing dead-zone actuators and stochastic failures. Each actuator's failure mode is described by a scalar Markovian type function, which is not only much more practical in control engineering but also challenging in control theory. By exploring the adaptive backstepping methodology, a compensation scheme for actuator failure is presented to guarantee that the solution of the closed-loop system is a unique and bounded in probability. Importantly, the proposed control method can achieve arbitrarily small tracking error in the presence of nonlinear actuators with random failures. The case study of active suspension system using the adaptive fault-tolerant compensation controller shows the effectiveness of the presented method.