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Adaptive fault-tolerant control for a class of nonstrict-feedback nonlinear systems with unmodeled dynamics and dead-zone output using multi-dimensional taylor networks

Author name : Mohamed Kharrat
Publication Date : 2024-08-01
Journal Name : Nonlinear Dynamics

Abstract

This paper presents an adaptive fault-tolerant control method for nonstrict-feedback nonlinear systems with unmodeled dynamics and output dead-zone in the presence of actuator faults. A dynamic signal is used to handle the unmodeled dynamics and a multi-dimensional Taylor network (MTN) to approximate unknown functions. The presented adaptive fault-tolerant control method ensures that all signals in closed-loop systems are semi-globally uniformly ultimately bounded (SGUUB) by applying the Lyapunov stability theory. It also guarantees that the tracking error will eventually converge to a bounded region around the origin. Finally, a numerical example and a real-world application of a one-link manipulator system are used to illustrate the effectiveness of the proposed control approach.

Keywords

Actuator fault · Dead-zone · Multi dimensional Nonlinear system · Taylor network · Unmodeled dynamics

Publication Link

https://doi.org/10.1007/s11071-024-09749-8

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