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Dynamic Surface Control for a Class of Nonlinear Feedback Linearizable Systems With Actuator Failures

机译:一类带有执行器故障的非线性反馈线性化系统的动态表面控制

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摘要

In this brief, we propose a dynamic surface control with actuator failure compensation for a class of feedback linearizable systems with locally Lipschitz nonlinearities. First, a dynamic surface state feedback control scheme is designed, which incorporates radial basis function networks in a novel approach, to compensate system uncertainties and dynamic changes induced by actuator failures. Then, an output feedback controller is obtained by means of high-gain observers. It is proved that our control schemes guarantee the uniform ultimate boundedness of the system, and that the output tracking error converges to an arbitrarily small residual set. Finally, a simulation is carried out to illustrate the performance of the designed control schemes.
机译:在本文中,我们为一类具有局部Lipschitz非线性的反馈线性化系统提出了一种具有执行器故障补偿的动态表面控制方法。首先,设计了一种动态表面状态反馈控制方案,该方案以一种新颖的方法结合了径向基函数网络,以补偿由于执行器故障而引起的系统不确定性和动态变化。然后,通过高增益观察器获得输出反馈控制器。证明了我们的控制方案保证了系统的统一最终有界性,并且输出跟踪误差收敛到任意小的残差集。最后,进行仿真以说明所设计控制方案的性能。

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