A finite-time fuzzy adaptive output-feedback fault-tolerant control for underactuated wheeled mobile robots systems

This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problemfor a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuatorfaults. The UWMR system includes unknown nonlinear dynamics and immeasurable states. Fuzzy logic systems(FLSs) are utilized to work out immeasurable functions. Furthermore, with the support of the backsteppingcontrol technique and adaptive fuzzy state observer, a fuzzy adaptive finite-time output-feedback FTC scheme isdeveloped under the intermittent actuator faults. It is testifying the scheme can ensure the controlled nonlinearUWMRs is stable and the estimation errors are convergent. Finally, the comparison results and simulationvalidate the effectiveness of the proposed fuzzy adaptive finite-time FTC approach.

Adaptive Fuzzy Backstepping Tracking Control for Flexible Robotic Manipulator

In this paper,an adaptive fuzzy state feedback control method is proposed for the single-link robotic manipulator system.The considered system contains unknown nonlinearfunction and actuator saturation.Fuzzy logic systems(FLSs)and a smooth function are used to approximate the unknownnonlinearities and the actuator saturation,respectively.By com-bining the command-filter technique with the backsteppingdesign algorithm,a novel adaptive fuuzy tracking backsteppingcontrol method is developed.It is proved that the adaptive fuuzycontrol scheme can guarantee that all the variables in the closed-loop system are bounded,and the system output can track thegiven reference signal as close as possible.Simulation results areprovided to illustrate the effectiveness of the proposed approach.

Time-Varying Asymmetrical BLFs Based Adaptive Finite-Time Neural Control of Nonlinear Systems With Full State Constraints

This paper concentrates on asymmetric barrier Lyapunov functions(ABLFs)based on finite-time adaptive neural network(NN)control methods for a class of nonlinear strict feedback systems with time-varying full state constraints.During the process of backstepping recursion,the approximation properties of NNs are exploited to address the problem of unknown internal dynamics.The ABLFs are constructed to make sure that the time-varying asymmetrical full state constraints are always satisfied.According to the Lyapunov stability and finitetime stability theory,it is proven that all the signals in the closedloop systems are uniformly ultimately bounded(UUB)and the system output is driven to track the desired signal as quickly as possible near the origin.In the meantime,in the scope of finitetime,all states are guaranteed to stay in the pre-given range.Finally,a simulation example is proposed to verify the feasibility of the developed finite time control algorithm.

Robust adaptive fuzzy tracking control for a class of strict-feedback nonlinear systems based on backstepping technique

In this paper, the robust adaptive fuzzy tracking control problem is discussed for a class of perturbed strict-feedback nonlinear systems. The fuzzy logic systems in Mamdani type are used to approximate unknown nonlinear functions. A design scheme of the robust adaptive fuzzy controller is proposed by use of the backstepping technique. The proposed controller guarantees semi-global uniform ultimate boundedness of all the signals in the derived closed-loop system and achieves the good tracking performance. The possible controller singularity problem which may occur in some existing adaptive control schemes with feedback linearization techniques can be avoided. In addition, the number of the on-line adaptive parameters is not more than the order of the designed system. Finally, two simulation examples are used to demonstrate the effectiveness of the proposed control scheme.

Distributed Adaptive Asymptotic Tracking of 2-D Vehicular Platoon Systems With Actuator Faults and Spacing Constraints

Dear Editor,This letter investigates the adaptive asymptotic tracking slidingmode control for nonlinear 2-D vehicular platoon systems subject to actuator faults.Firstly,by using the Nussbaum function,the disadvantageous factors brought by the unknown direction actuator faults can be attenuated.

Adaptive asymptotic fault-tolerant tracking of uncertain nonlinear systems with unknown control directions

In the article,the issues of asymptotic adaptive tracking control for the uncertain nonlinear systems in the presence of actuator faults and unknown control directions are investigated.By using the properties of the Nussbaum function and backstepping technique,the problems resulting from the unknown signs of the nonlinear control functions are circumvented successfully.Moreover,a new adaptive asymptotic tracking control method is presented with the fault-tolerant control framework,which is capable of realising zero-tracking performance.The stability of the controlled system is ensured through fractional Lyapunov stability analysis.Finally,the validity of the raised scheme is verified by a simulation example.