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Backstepping adaptive fuzzy control of uncertain nonlinear systems against actuator faults
Received:April 26,2008  Revised:October 23,2008
Keywords:Adaptive control  Fuzzy system  Backstepping  Uncertain nonlinear system  Actuator fault
Fund Project:
Ping LI, Guanghong YANG Key Laboratory of Integrated Automation for the Process Industry, Ministry of Education, and College of Information Science and Engineering, Northeastern University, Shenyang Liaoning 110004, China 
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      A class of unknown nonlinear systems subject to uncertain actuator faults and external disturbances will be studied in this paper with the help of fuzzy approximation theory. Using backstepping technique, a novel adaptive fuzzy control approach is proposed to accommodate the uncertain actuator faults during operation and deal with the external disturbances though the systems cannot be linearized by feedback. The considered faults are modeled as both loss of effectiveness and lock-in-place (stuck at some unknown place). It is proved that the proposed control scheme can guarantee all signals of the closed-loop system to be semi-globally uniformly ultimately bounded and the tracking error between the system output and the reference signal converge to a small neighborhood of zero, though the nonlinear functions of the controlled system as well as the actuator faults and the external disturbances are all unknown. Simulation results demonstrate the effectiveness of the control approach.
Ping LI, Guanghong YANG.Backstepping adaptive fuzzy control of uncertain nonlinear systems against actuator faults[J].Journal of Control Theory and Applications,2009,7(3):248~256.
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