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Quasi fixed-time fault-tolerant control for nonlinear mechanical systems with enhanced performance

Author

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  • Yin, Zeyang
  • Luo, Jianjun
  • Wei, Caisheng

Abstract

A novel quasi fixed-time prescribed performance control approach is investigated for mechanical systems with consideration of unknown dynamics and actuator faults. First, a fixed-time stable performance function is developed to quantitatively characterize the transient and steady-state responses. Then, a quasi fixed-time adaptive controller with a pretty simple computational structure is devised based on the developed performance function. Different from the existing finite-time/fixed-time control schemes, the prominent advantages are twofold: (1) no fractional-order state or output information is required, wherein, the order of the states involved in the developed controller just equals to one. (2) the fixed convergence time can be prespecified by the uses instead of relying on several parameters. Finally, applications to a 2-link robotic manipulator are employed to validate the effectiveness of the proposed control approach.

Suggested Citation

  • Yin, Zeyang & Luo, Jianjun & Wei, Caisheng, 2019. "Quasi fixed-time fault-tolerant control for nonlinear mechanical systems with enhanced performance," Applied Mathematics and Computation, Elsevier, vol. 352(C), pages 157-173.
    • Handle: RePEc:eee:apmaco:v:352:y:2019:i:c:p:157-173
    DOI: 10.1016/j.amc.2019.01.068
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    References listed on IDEAS

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    1. Zhao, Lin & Yu, Jinpeng & Lin, Chong & Yu, Haisheng, 2017. "Distributed adaptive fixed-time consensus tracking for second-order multi-agent systems using modified terminal sliding mode," Applied Mathematics and Computation, Elsevier, vol. 312(C), pages 23-35.
    2. Sakthivel, R. & Joby, Maya & Wang, Chao & Kaviarasan, B., 2018. "Finite-time fault-tolerant control of neutral systems against actuator saturation and nonlinear actuator faults," Applied Mathematics and Computation, Elsevier, vol. 332(C), pages 425-436.
    3. Li, Yingjie & Zhao, Dingxuan & Zhang, Zhongjun & Liu, Jingang, 2015. "An IDRA approach for modeling helicopter based on Lagrange dynamics," Applied Mathematics and Computation, Elsevier, vol. 265(C), pages 733-747.
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    Cited by:

    1. Li, Ming-Yang & Xie, Wen-Bo & Wang, Yu-Long & Hu, Xin, 2022. "Prescribed performance trajectory tracking fault-tolerant control for dynamic positioning vessels under velocity constraints," Applied Mathematics and Computation, Elsevier, vol. 431(C).
    2. Ying Yang & Bin Wang & Yuqiang Tian & Peng Chen, 2020. "Fractional-Order Finite-Time, Fault-Tolerant Control of Nonlinear Hydraulic-Turbine-Governing Systems with an Actuator Fault," Energies, MDPI, vol. 13(15), pages 1-20, July.

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