Finite-Time-Prescribed Performance-Based Adaptive Fuzzy Control for Strict-Feedback Nonlinear Systems With Dynamic Uncertainty and Actuator Faults

IEEE Trans Cybern. 2022 Jul;52(7):6959-6971. doi: 10.1109/TCYB.2020.3046316. Epub 2022 Jul 4.

Abstract

In this article, finite-time-prescribed performance-based adaptive fuzzy control is considered for a class of strict-feedback systems in the presence of actuator faults and dynamic disturbances. To deal with the difficulties associated with the actuator faults and external disturbance, an adaptive fuzzy fault-tolerant control strategy is introduced. Different from the existing controller design methods, a modified performance function, which is called the finite-time performance function (FTPF), is presented. It is proved that the presented controller can ensure all the signals of the closed-loop system are bounded and the tracking error converges to a predetermined region in finite time. The effectiveness of the presented control scheme is verified through the simulation results.