Cooperative Fault-Tolerant Control for Networks of Stochastic Nonlinear Systems With Nondifferential Saturation Nonlinearity
针对存在执行器故障和输入饱和的随机非线性系统网络，提出了一种基于模糊神经网络和反步法的自适应容错控制协议，使所有跟随者输出收敛到领导者输出附近。
This article addresses the cooperative fault-tolerant control problem for networks of stochastic nonlinear systems with actuator faults and input saturation. The fuzzy neural networks (FNNs) are employed to estimate the unknown functions and stochastic disturbance terms. To analyze the nondifferential saturation nonlinearity, a smooth nonlinear function of the control input signal is constructed to estimate the saturation function. A novel adaptive fault-tolerant control protocol is proposed by using backstepping design technique. By using the stochastic Lyapunov functional strategy, it is proved that all the followers’ outputs eventually converge to a small neighborhood of the leader’s output, and all the signals in the closed-loop systems are bounded in probability. Finally, the performance of the proposed control strategy is illustrated through simulation.