Monitoring-Based Prescribed Performance Control for Nonlinear Systems Against Actuator Faults
针对执行器故障的非线性系统，提出一种基于性能监测的预设性能控制方案，能处理退化与极端故障，实现故障后性能在规定时间内恢复，且不依赖初始状态。
This article investigates the prescribed performance control (PPC) problem for nonlinear systems subject to various degrees of actuator faults. The critical challenges lie in identifying performance deviations and achieving post-fault performance recovery. To address these issues, a performance-based monitoring strategy is first introduced, followed by the construction of a mapping function. Subsequently, by integrating these mechanisms with the actuator redundancy, a unified control scheme is presented, which is capable of handling both the degradation fault and the extreme fault effectively. Compared with the existing solutions, the proposed control scheme exhibits two distinctive features: 1) by incorporating shifting functions, it enables PPC for nonlinear systems independent of initial states; and 2) following the detection of the extreme fault and actuator switching, it facilitates accurate performance recovery within a prescribed time, while reducing dependence on the post-fault information. Finally, comparative simulations are conducted to verify the effectiveness of the proposed method.