International Journal of Robotics and Control Systems
Vol 1, No 2 (2021)

Adaptive Fuzzy Fault-Tolerant Control for a Class of Nonlinear Systems under Actuator Faults: Application to an Inverted Pendulum

Abdelhamid Bounemeur (University of Constantine)
Mohamed Chemachema (University of Constantine)

Article Info

Publish Date
07 May 2021

Abstract

This work investigates a fuzzy direct adaptive fuzzy fault-tolerant Control (FFTC) for a class of perturbed single input single output (SISO) uncertain nonlinear systems. The designed controller consists of two sub-controllers. One is an adaptive unit, and the other is a robust unit, whereas the adaptive unit is devoted to getting rid of the dynamic uncertainties along with the actuator faults, while the second one is developed to deal with fuzzy approximation errors and exogenous disturbances. It is proved that the proposed approach ensures a good tracking performance against faults occurring, uncertainties, and exogenous disturbances, and the stability study of the closed-loop is proved regarding the Lyapunov direct method in order to prove that all signals remain bounded. Simulation results are presented to illustrate the accuracy of the proposed technique.

Copyrights © 2021




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Journal Info
International Journal of Robotics and Control Systems
Website

Abbrev

IJRCS

Publisher

Association for Scientific Computing Electronics and Engineering

Subject

Control & Systems Engineering Electrical & Electronics Engineering

Description

International Journal of Robotics and Control Systems is open access and peer-reviewed international journal that invited academicians (students and lecturers), researchers, scientists, and engineers to exchange and disseminate their work, development, and contribution in the area of robotics and ...