International Journal of Robotics and Control Systems

Yazarlar: Abdelhamid Bounemeur, Mohamed Chemachema

Konular:-

DOI:10.31763/ijrcs.v1i2.306

Anahtar Kelimeler:Adaptive fuzzy control; Fault-tolerant control; Lyapunov stability; Inverted Pendulum; Actuator faults

Özet: 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.

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