Fault-Tolerant Control of Stochastic High-Order Fully Actuated Systems

Area of Science:

• Control theory
• Stochastic systems engineering
• Nonlinear dynamics

Background:

• High-order fully actuated (HOFA) systems have advanced significantly for deterministic models.
• Controlling stochastic HOFA systems remains a challenge, lacking comprehensive models.
• Existing HOFA methodologies do not inherently accommodate stochastic signals.

Purpose of the Study:

• To develop a novel stochastic high-order fully actuated (HOFA) system model.
• To extend HOFA methodology to include stochastic signals.
• To design control laws for global asymptotic stability in probability and fault tolerance.

Main Methods:

• Development of a novel stochastic HOFA system model.
• Adoption of a high-order operator for control law design.
• Design of an observer-based fault-tolerant control law for sensor gain faults.

Main Results:

• A new stochastic HOFA system model is proposed, accommodating stochastic signals.
• Equivalent control and stabilization control laws are derived using a high-order operator.
• Guaranteed global asymptotic stability in probability for the closed-loop system.
• An effective observer-based fault-tolerant control scheme is designed for sensor gain faults.

Conclusions:

• The proposed stochastic HOFA model effectively extends existing methodologies.
• The developed control laws ensure system stability and robustness in the presence of stochasticity and faults.
• Simulation results confirm the efficacy of the proposed control strategies for stochastic HOFA systems.