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Fault tolerant funnel control
Author(s) -
Berger Thomas
Publication year - 2018
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201800034
Subject(s) - funnel , control theory (sociology) , redundancy (engineering) , fault tolerance , tracking error , actuator , computer science , controller (irrigation) , tracking (education) , transformation (genetics) , control (management) , engineering , artificial intelligence , distributed computing , mechanical engineering , psychology , agronomy , pedagogy , biochemistry , chemistry , gene , biology , operating system
A new approach to adaptive fault tolerant tracking control for uncertain linear systems is presented. Based on recent results in funnel control and the time‐varying Byrnes‐Isidori form, we introduce a low‐complexity model‐free controller which achieves prescribed performance of the tracking error for any given sufficiently smooth reference signal. Within the considered system class, we allow for more inputs than outputs as long as a certain redundancy of the actuators is satisfied. An important role in the controller design is played by the controller weight matrix, which is a rectangular input transformation chosen such that in the resulting system the zero dynamics, which are assumed to be uniformly exponentially stable, are independent of the new input.