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Adaptive fuzzy hierarchical sliding mode control of uncertain under-actuated switched nonlinear systems with actuator faults

Author

Listed:
  • Haoyan Zhang
  • Ning Xu
  • Guangdeng Zong
  • Abdulhameed F. Alkhateeb

Abstract

This paper aims at putting forward an adaptive fuzzy hierarchical sliding mode control method to deal with the control problem for uncertain under-actuated switched nonlinear systems with actuator faults. First, both the bias fault and the loss of effectiveness are considered for the actuator faults. Then, the unknown uncertain functions of the under-actuated switched nonlinear system are approximated by utilising the approximation ability of fuzzy logic systems (FLSs). The error terms caused by FLSs and the upper bound of the bias signal of the actuator faults are integrated into a function where the upper bound of the function is on-line estimated. Furthermore, the singular problem of denominators can be well solved by introducing the projection algorithm. Based on our proposed control scheme, the boundedness of all the signals in the closed-loop system can be verified by resorting to the Lyapunov stability theory. Finally, a simulation example is given to verify the effectiveness of the proposed control scheme.

Suggested Citation

  • Haoyan Zhang & Ning Xu & Guangdeng Zong & Abdulhameed F. Alkhateeb, 2021. "Adaptive fuzzy hierarchical sliding mode control of uncertain under-actuated switched nonlinear systems with actuator faults," International Journal of Systems Science, Taylor & Francis Journals, vol. 52(8), pages 1499-1514, June.
    • Handle: RePEc:taf:tsysxx:v:52:y:2021:i:8:p:1499-1514
    DOI: 10.1080/00207721.2020.1831645
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    Cited by:

    1. Liu, Shanlin & Niu, Ben & Zong, Guangdeng & Zhao, Xudong & Xu, Ning, 2022. "Adaptive fixed-time hierarchical sliding mode control for switched under-actuated systems with dead-zone constraints via event-triggered strategy," Applied Mathematics and Computation, Elsevier, vol. 435(C).
    2. Guo, Shiyu & Zhao, Xudong & Wang, Huanqing & Xu, Ning, 2023. "Distributed consensus of heterogeneous switched nonlinear multiagent systems with input quantization and DoS attacks," Applied Mathematics and Computation, Elsevier, vol. 456(C).

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