An adaptive tracking control scheme based on a multi-dimensional Taylor network(MTN) is proposed for nonlinear systems with multiple sensor faults and actuator saturation. This article utilizes a smooth hyperbolic tangent function to transform the non-smooth actuator saturation model into a smooth linear model, thus addressing the challenges posed by actuator saturation on the system. By applying a third-order absolute value Lyapunov function and incorporating it into the adaptive control design process, the estimation of fault losses and design of compensation coefficients are carried out to eliminate the effects of sensor faults. Experimental results demonstrate that the proposed controller can eliminate the impact of sensor faults and actuator saturation, ensuring that all signals in the closed-loop system remain within bounded ranges. Additionally, it can drive the tracking error to converge to a small region near the origin.
LiYMTongSCLiTS.Composite adaptive fuzzy output feedback control design for uncertain nonlinear strict-feedback systems with input saturation. IEEE Trans Cybern2015; 45(10): 2299–2308.
2.
MaJJZhengZQLiP.Adaptive dynamic surface control of a class of nonlinear systems with unknown direction control gains and input saturation. IEEE Trans Cybern2015; 45(4): 728–741.
3.
JiRHGeSZSLiDY.Saturation-tolerant prescribed control for nonlinear systems with unknown control directions and external disturbances. IEEE Trans Cybern2024; 54(2): 877–889.
4.
ZhangLLYangGH.Adaptive fuzzy fault compensation tracking control for uncertain nonlinear systems with multiple sensor faults. Fuzzy Sets Syst2020; 392: 46–59.
5.
WuFLinZLZhengQ.Output feedback stabilization of linear systems with actuator saturation. IEEE Trans Automat Contr2007; 52(1): 122–128.
6.
LiYTongSLiT.Adaptive fuzzy output-feedback control for output constrained nonlinear systems in the presence of input saturation. Fuzzy Sets Syst2014; 248: 138–155.
7.
HanYQSunJJ.Adaptive finite-time control for a class of stochastic nonlinear systems with input saturation constraints: a new approach based on multidimensional Taylor network. Int J Robust Nonlinear Control2024; 34(8): 5329–5345.
8.
LiHYWangJHShiP.Output-feedback based sliding mode control for fuzzy systems with actuator saturation. IEEE Trans Fuzzy Syst2016; 24(6): 1282–1293.
9.
LuLLinZL.Design of switched linear systems in the presence of actuator saturation. IEEE Trans Automat Contr2008; 53(6): 1536–1542.
10.
LinDWangXYYaoY.Fuzzy neural adaptive tracking control of unknown chaotic systems with input saturation. Nonlinear Dyn2012; 67: 2889–2897.
11.
ChenMGeSZRenBB.Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints. Automatica2011; 47(3): 452–465.
12.
GuoXGZhaoJJLiHJ, et al. Novel auxiliary saturation compensation design for neuroadaptive NTSM tracking control of high speed trains with actuator saturation. J Franklin Inst2020; 357(3): 1582–1602.
13.
ZhaiDAnLWDongJX, et al. Output feedback adaptive sensor failure compensation for a class of parametric strict feedback systems. Automatica2018; 97: 48–57.
14.
WangHQChenBLiuXP, et al. Adaptive neural tracking control for stochastic nonlinear strict-feedback systems with unknown input saturation. Inf Sci2014; 269: 300–315.
15.
WenCYZhouJLiuZT, et al. Robust adaptive control of uncertain nonlinear systems in the presence of input saturation and external disturbance. IEEE Trans Automat Contr2011; 56(7): 1672–1678.
16.
BeyOChemachemaM.Decentralized event-triggered output feedback adaptive neural network control for a class of MIMO uncertain strict-feedback nonlinear systems with input saturation. Int J Adapt Control Signal Process2024; 38(4): 1420–1441.
17.
BeyOChemachemaM.Finite-time event-triggered output-feedback adaptive decentralized echo-state network fault-tolerant control for interconnected pure-feedback nonlinear systems with input saturation and external disturbances: a fuzzy control-error approach. Inf Sci2024; 669: 120557.
18.
BeyOChemachemaM.Control-error-based output-feedback adaptive decentralized neural network controller for interconnected uncertain strict-feedback nonlinear systems with input saturation. Trans Inst Meas Control2024; 46(8): 1529–1541.
19.
GaoSGDongHRChenY, et al. Approximation-based robust adaptive automatic train control: an approach for actuator saturation. IEEE trans Intell Transp Syst2013; 14(4): 1733–1742.
20.
BounemeurAChemachemaMEssounbouliN.Indirect adaptive fuzzy fault-tolerant tracking control for mimo nonlinear systems with actuator and sensor failures. ISA Trans2018; 79: 45–61.
21.
CarneiroDDSFariaFASilvaLJR, et al. Robust sampled-observer-based switching law for uncertain switched affine systems subject to sensor faults with an application to a bidirectional buck-boost DC-DC converter. IEEE Access2024; 12: 87967–87980.
22.
LinGHLiHYMaH, et al. Human-in-the-loop consensus control for nonlinear multi-agent systems with actuator faults. IEEE/CAA J Autom Sin2022; 9(1): 111–122.
23.
ZhaiDAnLWLiXJ, et al. Adaptive fault-tolerant control for nonlinear systems with multiple sensor faults and unknown control directions. IEEE Trans Neural Netw Learn Syst2018; 29(9): 4436–4446.
24.
LiuHPanYPCaoJD, et al. Adaptive neural network backstepping control of fractional-order nonlinear systems with actuator faults. IEEE Trans Neural Netw Learn Syst2020; 31(12): 5166–5177.
25.
WangHQBaiWZhaoXD, et al. Finite-time-prescribed performance-based adaptive fuzzy control for strict-feedback nonlinear systems with dynamic uncertainty and actuator faults. IEEE Trans Cybern2022; 52(7): 6959–6971.
26.
MengYHZhangYYeH, et al. Trajectory tracking control for unmanned amphibious surface vehicles with actuator faults. Appl Ocean Res2024; 152: 104182–104182.
27.
YouFQLiHZhangYW, et al. A novel sensor fault diagnosis approach for time-varying delay systems with non-linear uncertainty. Trans Inst Meas Control2017; 39(7): 1114–1120.
28.
WangXTanCP.Output feedback active fault tolerant control for a 3-dof laboratory helicopter with sensor fault. IEEE Trans Autom Sci Eng2024; 21(3): 2689–2700.
29.
WangJHLiuJRLiYH, et al. Prescribed time fuzzy adaptive consensus control for multiagent systems with dead-zone input and sensor faults. IEEE Trans Autom Sci Eng2024; 21(3): 4016–4027.
30.
ZhangQZhangXD.Distributed sensor fault diagnosis in a class of interconnected nonlinear uncertain systems. Annu Rev Control2013; 37(1): 170–179.
31.
ZhangLLYangGH.Observer-based fuzzy adaptive sensor fault compensation for uncertain nonlinear strict-feedback systems. IEEE Trans Fuzzy Syst2018; 26(4): 2301–2310.
32.
GuoXJWangJSunWC.Nonlinear adaptive fault-tolerant control for full-car active suspension with velocity measurement errors and full-state constraints. J Franklin Inst2024; 361(10): 106845.
33.
YueSChuangGBingWL, et al. Fuzzy observer-based command filtered tracking control for uncertain strict-feedback nonlinear systems with sensor faults and event-triggered technology. Nonlinear Dyn2023; 111(9): 8329–8345.
34.
XiongSSHouZS.Data-driven formation control for unknown MIMO nonlinear discrete-time multi-agent systems with sensor fault. IEEE Trans Neural Netw Learn Syst2022; 33(12): 7728–7742.
35.
HuangXCWenCYSongYD.Adaptive neural control for uncertain constrained pure feedback systems with severe sensor faults: a complexity reduced approach. Automatica2023; 147: 110701.
36.
WangJQFangFYiXJ, et al. Dynamic event-triggered fault estimation and sliding mode fault-tolerant control for networked control systems with sensor faults. App Math Comp Sci2021; 389: 125558.
37.
TalebiHAKhorasaniKTafazoliS.A recurrent neural-network-based sensor and actuator fault detection and isolation for nonlinear systems with application to the satellite’s attitude control subsystem. IEEE Trans Neural Netw2009; 20(1): 45–60.
38.
WangHLuKZhengF, et al. Improved finite-time prescribed performance based adaptive neural control for nonlinear systems with sensor faults. Neurocomputing2023; 560: 126794.
39.
XiongYWuYFXiangZR.Fuzzy adaptive output feedback fault-tolerant control for nonlinear switched large-scale systems with sensor faults. IEEE Syst J2022; 16(3): 3782–3793.
40.
HeWJZhuSLLuLT, et al. A novel network-based adaptive fault-tolerant control of switched nonlinear systems subject to multiple faults under prescribed performance. ISA Trans2024; 145: 78–86.
41.
LiNHanYQHeWJ, et al. A novel network-based controller design for a class of stochastic nonlinear systems with multiple faults and full state constraints. Int J Control2024; 97(4): 651–661.
42.
YanHSLiCL.MTN-based recursive d-step-ahead predictive control of MIMO nonlinear systems with unknown input time-delay in industrial process. Assem Autom2022; 42(4): 474–489.
43.
HeWJZhuSLLuLT, et al. Adaptive multi-switching-based global tracking control for switched nonlinear systems with prescribed performance. IEEE Trans Autom Sci Eng2024; 21(3): 3243–3252.
44.
WangMXZhuSLLiuSM, et al. Design of adaptive finite-time fault-tolerant controller for stochastic nonlinear systems with multiple faults. IEEE Trans Autom Sci Eng2023; 20(4): 2492–2502.
45.
ZhaoWZhuSLZhouYF, et al. Adaptive prescribed performance tracking control for uncertain nonlinear systems with unknown backlash-like hysteresis. Proc IMechE, Part I: J Systems and Control Engineering2024; 238(7): 1206–1218.
46.
HeXJiaFl.Active fault-tolerant control for nonlinear systems with nonlogarithmic sensor resolution. IEEE Trans Instrum Meas2024; 73: 1–11.
47.
ZhangZYYangXSLamHK, et al. Event-triggered control for switched systems with sensor faults via adaptive fuzzy observer. Math Comput Simul2024; 221: 244–259.
48.
LiDPHanHGQiaoJF.Fuzzy-approximation adaptive fault tolerant control for nonlinear constraint systems with actuator and sensor faults. IEEE Trans Fuzzy Syst2024; 32(5): 2614–2624.
49.
GaoYFSunXMWenCY, et al. Adaptive tracking control for a class of stochastic uncertain nonlinear systems with input saturation. IEEE Trans Automat Contr2017; 62(5): 2498–2504.
50.
MinHFXuSYZhangBY, et al. Output-feedback control for stochastic nonlinear systems subject to input saturation and time-varying delay. IEEE Trans Automat Contr2019; 64(1): 359–364.
51.
LiuPDZhangHYMingZY, et al. Dynamic event-triggered safe control for nonlinear game systems with asymmetric input saturation. IEEE Trans Cybern2024; 54(9): 5115–5126.
52.
ZhangHYZhaoXDWangHQ, et al. Adaptive tracking control for output-constrained switched MIMO pure-feedback nonlinear systems with input saturation. J Syst Sci Complex2023; 36(3): 960–984.
53.
WuZWZhangTPXiaXN, et al. Finite-time adaptive neural command filtered control for non-strict feedback uncertain multi-agent systems including prescribed performance and input nonlinearities. Appl Math Comput2022; 421: 126953.
54.
YangBXiaoWBYinH, et al. Adaptive neural control for multiagent systems with asymmetric time-varying state constraints and input saturation. Int J Robust Nonlinear Control2020; 30(12): 4764–4778.
55.
MuYFZhangHGXiRP, et al. Fault-tolerant control of nonlinear systems with actuator and sensor faults based on T–S fuzzy model and fuzzy observer. IEEE Trans Syst Man Cybern Syst2022; 52(9): 5795–5804.
56.
HanYQSunJJ.Adaptive finite-time control for a class of stochastic nonlinear systems with input saturation constraints: a new approach based on multi-dimensional Taylor network. Int J Robust Nonlinear Control2024; 34(8): 5329–5345.
57.
WangDMHanYQLuLT, et al. Dynamic event-triggered adaptive tracking control for stochastic nonlinear systems with deferred time-varying constraints. Chaos Solitons Fractals2024; 182: 114814.
58.
LuLTZhuSLWangDM, et al. Predefined-time adaptive consensus control for nonlinear multi-agent systems with input quantization and actuator faults. Nonlinear Dyn2024; 112(16): 1–20.
59.
ZhangLLYangGH.Adaptive fuzzy fault compensation tracking control for uncertain nonlinear systems with multiple sensor faults. Fuzzy Sets Syst2020; 392: 46–59.
60.
JohanssonKHEgerstedtMLygerosJ, et al. On the regularization of Zeno hybrid automata. Syst Control Lett1999; 38(3): 141–150.
