Low-complexity preset-time fault-tolerant control for high-order uncertain systems with constrained performance requirements

Abstract

For a class of high-order uncertain systems with actuator faults and constrained performance requirements, this paper proposes a low-complexity preset-time fault-tolerant control method with flexible self-adjusting prescribed performance. Unlike most existing fault-tolerant control methods, this study introduces a new coordinate transformation by combining the arctangent function and a preset-time performance function, and, together with the tangent function, eliminates the controller design’s dependence on information such as system nonlinearities and derivatives of virtual control laws. The proposed method not only replaces conventional techniques such as function approximation, command filtering, and data-driven approaches but also ensures that the system output tracks the reference signal with preset time and accuracy. Furthermore, by organically combining multiple functions, this study constructs a unified framework. Within this framework, users can simultaneously achieve various prescribed performance behaviors and self-adjusting performance for constraint boundaries through simple parameter selection, without altering the controller structure. Simulation results verify the feasibility of the proposed method.