Adaptive Actuator Fault-Tolerant Tracking Control for Stochastic High-Order Fully Actuated Systems

Area of Science:

• Control Systems Engineering
• Stochastic Systems Analysis
• Robotics and Automation

Background:

• Existing research on high-order fully actuated systems (FASs) primarily addresses deterministic models.
• Stochastic disturbances and actuator faults present significant challenges in real-world system control.
• Ensuring reliable operation under adverse conditions is critical for complex engineering systems.

Purpose of the Study:

• To develop a fault-tolerant control strategy for stochastic high-order fully actuated systems (FASs) with actuator faults.
• To introduce stochastic disturbances into the system model, enhancing realism.
• To guarantee that the tracking error remains within a user-defined probabilistic ultimate bound.

Main Methods:

• Utilized the generalized martingale technique for controller formulation.
• Developed an adaptive compensation law to manage time-varying actuator faults.
• Implemented a preclosed-loop strategy leveraging the FAS methodology.

Main Results:

• Formulated a novel fault-tolerant equivalent controller for stochastic FASs.
• Successfully addressed time-varying actuator faults with an adaptive compensation law.
• Demonstrated that the tracking error adheres to the probabilistic ultimate bound.

Conclusions:

• The proposed fault-tolerant control method is effective for stochastic high-order FASs with actuator faults.
• The approach ensures system performance and stability in the presence of both stochastic disturbances and faults.
• Validated through numerical simulations and a practical application on a rotary steerable drilling platform.