Fault-Tolerant Funnel Control for Uncertain Linear Systems

DOI10.1109/TAC.2020.3030759MaRDI QIDQ4957731zbMATH OpenOpenAlexFDO

Authors

Publication date 9 September 2021

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1912.02030

zbMATH Keywords

linear systemsfault tolerant controlrelative degreefunnel controlmodel-free control

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Linear systems in control theory (93C05) Control/observation systems with incomplete information (93C41)

Abstract: We study adaptive fault tolerant tracking control for uncertain linear systems. Based on recent results in funnel control and the time-varying Byrnes-Isidori form, we develop a low-complexity model-free controller which achieves prescribed performance of the tracking error for any given sufficiently smooth reference signal. Within the considered system class, we allow for more inputs than outputs as long as a certain redundancy of the actuators is satisfied. An important role in the controller design is played by the controller weight matrix. This is a rectangular input transformation chosen such that in the resulting system the zero dynamics, which are assumed to be uniformly exponentially stable, are independent of the new input. We illustrate the fault tolerant funnel controller by an example of a linearized model for the lateral motion of a Boeing 737 aircraft.

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(15)

• Output feedback control with prescribed performance via funnel pre-compensator
• Integrated fault estimation and fault-tolerant control for switched stochastic systems with unknown input
• Funnel Control With Saturation: Linear MIMO Systems
• Event-triggered fixed-time practical tracking for high-order nonlinear systems with actuator faults
• Performance-improved finite-time fault-tolerant control for linear uncertain systems with intermittent faults: an overshoot suppression strategy
• Unifying performance specifications in tracking control of MIMO nonlinear systems with actuation faults
• A two-layer adaptive control framework for prescribed performance in unmanned aerial vehicles
• Funnel asymptotic tracking of nonlinear multi-agent systems with unmatched uncertainties
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• Adaptive fault-tolerant control of nonlinear systems: a self-regulating spatiotemporal performance approach
• Nonlinear adaptive estimator-based prescribed performance control of perturbed quadcopter systems
• Funnel control for boundary control systems
• Global asymptotic fault-tolerant tracking for time-varying nonlinear complex systems with prescribed performance

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