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Adaptive Fault‐Tolerant Control of Uncertain MIMO Systems with Reduced Requirement on Desired Trajectory Under Unknown Control Direction
Author(s) -
Jiang Qiqi,
Xian Xiaodong,
Zhang Zhirong
Publication year - 2020
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1968
Subject(s) - control theory (sociology) , trajectory , mimo , bounded function , nonlinear system , artificial neural network , computer science , control (management) , feature (linguistics) , fault tolerance , control system , adaptive control , tracking (education) , mathematics , engineering , artificial intelligence , computer network , mathematical analysis , channel (broadcasting) , linguistics , physics , philosophy , distributed computing , quantum mechanics , astronomy , electrical engineering , psychology , pedagogy
This paper aims at investigating the tracking control problem for a class of multi‐input multi‐output (MIMO) nonlinear systems with non‐square control gain matrix subject to unknown control direction and uncertain desired trajectory. By using the artificial neural network (NN) reconstructs the target trajectory with actual disguised trajectory, we are able to design a practical and stable tracking control scheme without the need for the unavailable desired trajectory. Nussbaum‐type function is incorporated in the control law to handle the unknown control direction. The remarkable feature of the proposed scheme is that it is robust against modeling uncertainties and tolerant to actuation faults, yet guarantees that the closed‐loop system is stable in the sense of ultimately uniformly bounded (UUB). The effectiveness of the proposed control schemes are illustrated through simulation results.