Suction Cup-Type Prescribed Performance Fault-Tolerant Fuzzy Control for Nonlinear Systems Considering Actuator...

Area of Science:

• Control Engineering
• Systems Science
• Robotics

Background:

• Conventional fault-tolerant control (FTC) often simplifies fault models, assuming a linear (exponent 1) impact of faulty inputs.
• This simplification overlooks potential higher-order effects on actuator power and system dynamics.
• Existing prescribed performance functions can be complex and require specific initial conditions.

Purpose of the Study:

• To develop a novel FTC strategy that accounts for higher-order fault effects by extending the fault exponent to any positive odd integer.
• To introduce a new suction-cup-type prescribed performance function that effectively regulates output overshoot.
• To ensure the proposed FTC scheme is globally effective and eliminates initial feasibility conditions.

Main Methods:

• The proposed FTC strategy models faulty inputs with an exponent generalized to any positive odd integer.
• A Gaussian function is integrated to modify constraint boundaries, creating a suction-cup-type prescribed performance function.
• The new performance function regulates overshoot without necessitating asymmetric design or initial feasibility checks.

Main Results:

• The generalized fault exponent captures higher-order fault effects previously overlooked.
• The suction-cup-type prescribed performance function effectively manages output overshoot.
• The proposed FTC scheme demonstrates global effectiveness, removing the need for initial feasibility conditions.

Conclusions:

• The novel FTC strategy effectively handles higher-order fault effects and actuator power considerations.
• The suction-cup-type prescribed performance function offers a robust and simpler approach to performance regulation.
• The developed method provides a globally effective and practical solution for fault-tolerant control systems.