Adaptive fuzzy finite-time fault-tolerant funnel control of nonlinear systems with actuators failures

Abstract

This article investigates adaptive fuzzy finite-time fault-tolerant funnel control of nonlinear systems with actuators failures, which contain outage, loss of effectiveness and stuck modes. The principal control objectives are ensure that the trajectory of the tracking error can be limited to the predefined area in finite time and whether the actuators are at faults or not. First, the original error equation is changed into a new one by introducing the revised funnel variable, which will be employed to design the controller later. Second, the required conditions for the existence of the adaptive fuzzy finite-time fault-tolerant controller are provided using backstepping technology, fuzzy logic system, and finite-time Lyapunov stability theory. Theoretical analysis verifies that all the signals of the closed-loop system are semi-globally practically finite-time stable. Finally, a numerical example illustrates that the proposed method can effectively improve the steady-state and transient-state performance of the system in finite time.