针对一类SISO带有执行器故障的状态可测的非线性输出时滞系统,提出了一种模糊自适应Backstepping容错控制方法。所提出的控制方法可以解决对执行器卡死故障和执行器失效的问题。设计中,对时滞项进行有界处理,从而消除时滞的影响。采用模糊逻辑系统逼近未知函数,并结合Backstepping设计原理,给出了模糊自适应容错控制器和参数的自适应律。基于Lyapunov函数方法证明了闭环系统是半全局一致终结有界的,跟踪误差收敛到原点的一个小的邻域内。仿真结果进一步验证了所提方法的有效性。%For a class of SISO uncertain nonlinear systems with actuator＇s faults,measurable out-put time delay system,the adaptive fuzzy Backstepping fault tolerant control was proposed herein.This proposed control can solve the operation of stuck in the implementation period when actuator failure occurred.In design,the time delayed item was bounded by treatment to have eliminated the delayed influence.Fuzzy logical system is used to approximate the unknown function.The combination of Backstepping design principle gave adaptive laws for tolerant controller and parameters.Lyapunov function proved the closed-loop system is of semi-global termination bounded,and also proved the stability of closed-loop system,with its tracking error converged to a small residual set.The simulation results verify the effectiveness of the proposed control algorithm.
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