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    Backstepping Nussbaum gain dynamic surface control for a class of input and state constrained systems with actuator faults

    Access Status
    Fulltext not available
    Authors
    Habibi, Hamed
    Rahimi Nohooji, H.
    Howard, Ian
    Date
    2019
    Type
    Journal Article
    
    Metadata
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    Citation
    Habibi, H. and Rahimi Nohooji, H. and Howard, I. 2019. Backstepping Nussbaum gain dynamic surface control for a class of input and state constrained systems with actuator faults. Information Sciences. 482: pp. 27-46.
    Source Title
    Information Sciences
    DOI
    10.1016/j.ins.2018.12.084
    ISSN
    0020-0255
    School
    WASM: Minerals, Energy and Chemical Engineering (WASM-MECE)
    URI
    http://hdl.handle.net/20.500.11937/74189
    Collection
    • Curtin Research Publications
    Abstract

    This paper presents a novel constructive control design applicable for uncertain dynamic systems subject to input and state saturations, unknown direction, and actuation faults. The controller is based on the direct Lyapunov method, which by use of the Nussbaum-type function, provides an adaptive control scheme that can handle the effect of unknown control direction. The violation of constraints is avoided by relying on the bounding of the Lyapunov function in the closed-loop system using the barrier Lyapunov function (BLF). The time-varying cotangent-type BLF is constructed, and by introducing a novel flexible technique to generate state constraints, general constraints are formed systematically to relax different initial conditions. Proper input saturation is utilized, and it is shown that under the proposed control all the signals in the closed-loop system are bounded without violating the constraints, in both fault-free and faulty actuation. The performance of the theoretical results is illustrated using numerical simulations. Also, a comparison is made with the results of well-known logarithm BLF and traditional quadratic Lyapunov functions to further evaluate the effectiveness of the proposed controller.

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