Actuator Failure Compensation Control Scheme of the Nonlinear Triangular Systems by Static Gain Technique
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ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
Actuator Failure Compensation Control Scheme of the Nonlinear Triangular Systems by Static Gain Technique Fei Zhu, Xianfu Zhang*, and Hanfeng Li Abstract: In this paper, the technique of static gain as a new research approach is applied in the nonlinear triangular systems to investigate the issue of actuator fault. By employing the static gain technique, the nonlinear lowertriangular systems are converted into the form which is easy to find its Lyapunov function. The fault parameters of the actuator are subsequently processed by the efficient adaptive estimation tactic, after that, the goal of guaranteeing the global boundness of all closed-loop signals can be achieved by utilizing a state controller with the hyperbolic functions. Moreover, by adopting the same strategy, the actuator failure compensation problem is also solved for the nonlinear upper-triangular systems. Last but not least, the effectiveness of the design scheme is verified by two numerical simulation examples. Keywords: Actuator failure compensation, adaptive estimation, hyperbolic functions, static gain.
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INTRODUCTION
Quite a few issues in actual life and practical engineering can be transformed into the form of nonlinear triangular systems by mathematical modeling methods, so that the exploration of the nonlinear triangular systems has attracted much attention, see [1–13]. Since backstepping design tactic was introduced to the nonlinear triangular systems by researchers in the 1990s, it has gradually become an indispensable method for studying the issue related to the nonlinear triangular systems. The problem of global robust stabilization for polynomial lower-triangular form was investigated in [1] and the problem of tracking was primarily investigated for the systems in triangular form by backstepping tactic in [2, 3], furthermore the research of almost disturbance decoupling in the high-order triangular systems by backstepping tactic was presented in [4], the tracking problem for a class of more general lower triangular nonlinear systems was also intensively researched in [5, 6] with the help of backstepping tactic, just to name only a few. While the gain technique is an innovative control strategy for studying the nonlinear triangular systems in recent years, for example, Zhang designed controllers with gain for the time-delay triangular systems in [7–9], and Chen intensively researched the nonlinear triangular systems in any prescribed finite time by using the high-gain technique in [10], similarly, Li explored control
strategies for the nonlinear triangular systems by introducing the gain method in [11, 12], Zhai also by drawing support from two novel dynamic gains to deal with the unknown growth rate in [13]. Actuator failure is a universal problem, and nowhere is this more apparent in practical applications. Up to now, it is common knowledge that the consequences will be unthinkable if the actuator of the vehicle fails. The research on actuator failure compensation has al
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