Finite-Time Fault Estimator Based Fault-Tolerance Control for a Surface Vehicle with Input Saturations
IEEE transactions on industrial informatics(2020)
摘要
In this article, in the presence of unknown actuator faults, input saturations, and complete unknowns including both internal dynamics and external disturbances, exact trajectory-tracking problem of a surface vehicle (SV) is solved by creating a finite-time fault estimator based fault-tolerance control (FFE-FTC) scheme. By virtue of input saturations, smoothly saturated controls are separated from input nonlinearities including unknown faults, thereby leaving faults-mixed unknowns be exactly observed by a finite-time fault estimator (FFE). By defining an integral sliding-mode (ISM) manifold and deriving affine controls with unknown gains from smooth saturations, Nussbaum technique is deployed to synthesize a uniformly adaptive finite-time controller working in a large range outside input saturations. Within the close range where saturations are removed, an ISM-based nonsmooth controller with finite-time auxiliary compensation dynamics is devised to finely stick tracking errors to the origin. Intuitively, large- and close-range control actions are triggered by measuring the ISM error, thereby contributing to the entire FFE-FTC scheme, which achieves exact fault-tolerance and unknown rejection under input saturations. Lyapunov and nonsmooth syntheses prove that the closed-loop FFE-FTC system is globally finite-time stable. Simulation results and comparisons on a prototype SV demonstrate remarkable performance in terms of feasibly saturated controls and exact trajectory-tracking, simultaneously.
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关键词
Fault-tolerance control (FTC),finite-time fault estimator (FFE),input saturation,surface vehicle (SV)
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