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Observer-Based Fault Tolerance Control for a Class of Uncertain Nonlinear Systems with Actuator Faults and Obstacle Avoidance
  • Chenglong Liu,
  • Lili Zhang,
  • Liwei An
Chenglong Liu
Northeastern University College of Sciences
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Lili Zhang
Northeastern University College of Sciences

Corresponding Author:[email protected]

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Liwei An
Northeastern University College of Information Science and Engineering
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Abstract

This paper studies the problem of obstacle avoidance and trajectory tracking for a class of uncertain nonlinear systems with unmeasured states and actuator faults. The main difficulty is that actuator faults may cause significant transient tracking errors, which might lead to collisions. To overcome this difficulty, an adaptive observer is developed to estimate system states and compensate for actuator faults. Additionally, the integral-multiplicative Barrier Lyapunov function (BLF) is integrated into the backstepping procedure to overcome the dynamics mismatching problem of the existing SUM-type BLF. The proposed adaptive scheme can avoid collisions in a multi-obstacle environment even if the actuator faults occur, and all the signals are uniformly ultimately bounded. Simulation results demonstrate the effectiveness of this approach.
Submitted to International Journal of Robust and Nonlinear Control
Assigned to Editor
Reviewer(s) Assigned
Submission Checks Completed
01 Jul 2024Review(s) Completed, Editorial Evaluation Pending
02 Jul 2024Reviewer(s) Assigned
22 Jul 2024Editorial Decision: Revise Minor