A fully actuated system approach to event-triggered fault-tolerant control of a class of interconnected nonlinear systems

IF 4.6 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2026-05-01 Epub Date: 2026-02-11 DOI:10.1016/j.conengprac.2026.106832

Tan Wang , Haowen Liu , He Kong , Guang-Ren Duan

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Abstract

This paper presents a novel event-triggered fault-tolerant control (FTC) strategy for interconnected nonlinear systems (INSs) using the fully actuated system (FAS) approach. The FAS model of INSs is derived through recursive transformations, enabling a more flexible and efficient controller design procedure compared to traditional backstepping methods. The proposed method explicitly accounts for modeling uncertainties, ensuring robustness without relying on neural networks or requiring exact knowledge of uncertainties. A switching-threshold mechanism, which combines fixed and relative thresholds, is introduced to balance communication overhead and system performance. The uniform ultimate boundedness of the tracking error under system faults is rigorously established. Moreover, the proposed framework is experimentally validated on a self-developed platform with two inverted pendulum systems connected via a spring, demonstrating its practical applicability and effectiveness.

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一类互连非线性系统事件触发容错控制的全驱动系统方法

本文提出了一种基于全驱动系统（FAS）的事件触发容错控制策略。通过递归变换推导出INSs的FAS模型，与传统的反推方法相比，具有更灵活、更高效的控制器设计过程。所提出的方法明确地考虑了建模的不确定性，确保了鲁棒性，而不依赖于神经网络或需要精确的不确定性知识。引入了一种结合固定阈值和相对阈值的切换阈值机制来平衡通信开销和系统性能。严格建立了系统故障下跟踪误差的一致极限有界性。并在自主开发的两个倒立摆系统通过弹簧连接的平台上进行了实验验证，验证了该框架的实用性和有效性。

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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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.