Adaptive Fault-Tolerant Control With Global Prescribed Performance of Strict-Feedback Systems
针对存在性能约束和执行器故障的非线性严格反馈系统，提出一种基于ln型性能函数的全局预设性能控制方法，结合参数估计和误差移位修正设计自适应控制器，确保输出跟踪误差从任意初始位置收敛到预设区域。
This article investigates the output tracking control problem of nonlinear strict-feedback systems subject to performance constraints and actuator faults. By introducing the ln-type performance functions, a global prescribed performance control (PPC) method is given on the basis of mapping and barrier error transformations, which is of simplicity and scalability, and can ensure the convergence of output tacking error to the prescribed region from any initial position. To compensate for the effect of actuator faults, parameter estimation technique is utilized together with error shifting modification to yield an adaptive controller that stabilizes the closed-loop system with small input overshoot. Simulation studies are implemented to demonstrate the effectiveness of the result, and also the advantage over the existing ones.