Saturation-tolerant prescribed control of MIMO nonlinear systems with actuator faults

作     者：Hao Lei Ruihang Ji Dongyu Li Shuzhi Sam Ge 

作者机构：Electrical and Computer EngineeringNational University of SingaporeSingapore117583Singapore School of Cyber Science and TechnologyBeihang UniversityBeijing100191China 

出 版 物：《Journal of Automation and Intelligence》 (自动化与人工智能(英文))

年 卷 期：2025年第4卷第1期

页      面：10-20页

学科分类：08[工学] 0835[工学-软件工程] 0802[工学-机械工程] 080201[工学-机械制造及其自动化] 

基　　金：supported by the National Research Foundation Singapore under its AI Singapore Programme(Award Number:[AISG2-GC-2023-007]) 

主　　题：Prescribed performance control Input saturation Auxiliary system Actuator faults MIMO nonlinear systems Finite-time stability 

摘      要：This paper addresses the tracking control problem of a class of multiple-input–multiple-output nonlinear systems subject to actuator *** a balance between input saturation and performance constraints,rather than conducting isolated analyses,especially in the presence of frequently encountered unknown actuator faults,becomes an interesting yet challenging ***,to enhance the tracking performance,Tunnel Prescribed Performance(TPP)is proposed to provide narrow tunnel-shape constraints instead of the common over-relaxed trumpet-shape performance constraints.A pair of non-negative signals produced by an auxiliary system is then integrated into TPP,resulting in Saturation-tolerant Prescribed Performance(SPP)with flexible performance boundaries that account for input saturation ***,SPP can appropriately relax TPP when needed and decrease the conservatism of control *** the help of SPP,our developed Saturation-tolerant Prescribed Control(SPC)guarantees finite-time convergence while satisfying both input saturation and performance constraints,even under serious actuator *** are conducted to illustrate the effectiveness of the proposed SPC.