For non-affine pure feedback system with actuator failure and unknown initial tracking condition,the problem of prescribed performance finite-time fault-tolerant control was studied.The mean value theorem was adopted to deal with non-affine system,the Nussbaum gain function was used to solve the controller design problem with unknown control direction.With the help of prescribed performance control design method which was independent of the system's initial condition,the prescribed performance controller could still be designed when the initial state of the tracking error was unknown.Using traditional finite-time theory and fault-tolerant control theory,a prescribed performance finite-time fault-tolerant control design strategy was proposed.The strategy could guarantee the transient and steady-state performance of the system under unknown initial tracking condition and actuator failure,as well as boundness of all signals in the system.The simulation results verified the feasibility of the designed controller.
关键词
非仿射纯反馈/执行器故障/预设性能/有限时间控制/控制方向未知
Key words
non-affine pure feedback/actuator failure/prescribed performance/finite-time control/unknown control direction
维普
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