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

Pingfan Liu , Shaocheng Tong
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Abstract

This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problem for a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuator faults. 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 backstepping control technique and adaptive fuzzy state observer, a fuzzy adaptive finite-time output-feedback FTC scheme is developed under the intermittent actuator faults. It is testifying the scheme can ensure the controlled nonlinear UWMRs is stable and the estimation errors are convergent. Finally, the comparison results and simulation validate the effectiveness of the proposed fuzzy adaptive finite-time FTC approach.

欠驱动轮式移动机器人系统的有限时间模糊自适应输出反馈容错控制
本文研究了一类具有间歇执行器故障的非线性欠驱动轮式移动机器人(UWMRs)系统的自适应模糊有限时间输出反馈容错控制(FTC)问题。UWMR 系统包括未知非线性动力学和不可测量状态。模糊逻辑系统(FLS)可用于计算不可测函数。此外,在反步进控制技术和自适应模糊状态观测器的支持下,开发了一种间歇执行器故障下的模糊自适应有限时间输出反馈 FTC 方案。结果表明,该方案能确保受控非线性 UWMRs 稳定,且估计误差收敛。最后,对比结果和仿真验证了所提出的模糊自适应有限时间 FTC 方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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