Adaptive Self-Triggered Fault-Tolerant Control for Nonlinear Systems With Input Dead Zone: A Funnel Function Method
针对存在输入死区和执行器故障的非线性系统，提出一种自适应自触发漏斗控制器，通过神经网络处理未知非线性，将跟踪误差限制在漏斗边界内，并节省通信资源。
In this article, a novel adaptive self-triggered controller is constructed to handle the fault-tolerant control problem for nonlinear system with input dead zone through a funnel function method: 1) the actuator failure and the dead-zone nonlinearity are fully analyzed for the modeling purpose, we transform the system into a new model; 2) the self-triggered scheme is set up to update the control signals, which effectively economizes communication resources; 3) due to the existence of unknown control gains and unknown nonlinear functions, the adaptive neural network funnel controllers are designed, such that the tracking error is confined within the funnel boundary and all the signals of the closed-loop system are semi-globally uniformly ultimately bounded; and 4) finally, the applicability of the acquired control algorithm is demonstrated via a rigid robot manipulator system.