Fault Compensation Control of MIMO Nonlinear Systems Subject to Unknown Control Directions

Abstract

This study is primarily focused on the issue of low-complexity prescribed performance fault compensation for multi-input and multi-output (MIMO) uncertain nonlinear systems with actuator failures, coupling states, and unknown control directions. First of all, proper logarithm-type error conversion functions and smooth orientation functions are linked to design the continuous control signals in the state feedback controller. Then, based on the idea of proof by contradiction, it is shown that the state errors converge to a predictable compact aggregate at the definite rate. Meanwhile, the boundedness of any closed-loop signals might be guaranteed. The simulation example results are delivered to demonstrate the effectiveness of the developed control strategy at last.