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Distributed adaptive safe fault-tolerant control for nonlinear systems based on Barrier function.

Min Zhang1, Xiangbin Liu2, Hongye Su3

  • 1School of Automation and Intelligence, Beijing Jiaotong University, No. 3 Shangyuancun, Beijing, 100044, China; School of Electronic Information Engineering, Xi'an Technological University, No. 2, Xuefu Middle Road, Weiyang District, Xi'an, 710021, China.

ISA Transactions
|November 24, 2024
PubMed
Summary
This summary is machine-generated.

This study introduces an adaptive safe fault-tolerant controller framework for nonlinear systems facing unknown faults. The novel approach ensures system stability and safety, even in complex interconnected scenarios.

Keywords:
Adaptive neural controlBarrier functionFault-tolerant controlInterconnected nonlinear systemState constraint

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Area of Science:

  • Control Systems Engineering
  • Nonlinear Dynamics
  • Fault-Tolerant Control

Background:

  • Ensuring system stability and safety under unknown faults is critical in control systems.
  • Existing fault-tolerant control methods often struggle with complex nonlinear and interconnected systems.

Purpose of the Study:

  • To propose a novel adaptive safe fault-tolerant (SFT) controller design framework.
  • To guarantee system stability and safety in the presence of unknown faults for both single and interconnected nonlinear systems.

Main Methods:

  • Developed an adaptive fault-tolerant controller for single systems ensuring safety and asymptotic stability.
  • Utilized neural networks (NNs) to parameterize unknown faults and interconnection terms in interconnected systems.
  • Proposed a certainty equivalence (CE)-based adaptive controller by relaxing stability conditions to simplify design.

Main Results:

  • Achieved simultaneous safety and asymptotic stability for single systems.
  • Obtained input-to-state safety and uniform ultimate boundedness for controlled interconnected systems.
  • Demonstrated the framework's effectiveness through a numerical simulation of two interconnected inverted pendulums.

Conclusions:

  • The proposed adaptive SFT controller framework effectively ensures stability and safety for nonlinear systems with unknown faults.
  • The use of NNs and CE-based control simplifies design while maintaining performance for interconnected systems.
  • The method provides a robust solution for critical applications requiring high reliability and safety.