Simplified global fault accommodation control design of uncertain nonlinear systems with unknown time-varying powers

Abstract

This paper addresses the problem of global robust fault accommodation tracking for a class of uncertain nonlinear systems with unknown powers and actuator faults. It is assumed that the powers of the concerned system are unknown time-varying functions, all system nonlinearities are unknown, and unknown actuator faults depend on the time-varying power of a control input. A fault accommodation state-feedback controller is explicitly constructed based on the nonlinear error transformation technique using time-varying performance functions. Global tracking with the preselected performance bounds is established in the presence of unknown time-varying powers and unexpected actuator faults. Different from the previous results dealing with the problem of unknown time-varying powers, the proposed tracking strategy does not require the knowledge of the bounds of the time-varying powers and the nonlinear bounding functions of system nonlinearities. An underactuated mechanical system is simulated to validate the effectiveness of the proposed theoretical approach.