ABSTRACT
The tracking control problem of a class of underactuated systems that have time-varying additive and multiplicative sensor faults is studied in this paper. A composite sliding mode surface is established, and the fuzzy logic system is used to estimate the unknown term in the system. The impact of sensor faults can be counteracted by using the proposed method, which also guarantees the tracking errors converge to zero and the signals in the closed-loop system are bounded. Furthermore, the usefulness of the designed control strategy is certified via a numerical simulation.
CO EDITOR-IN-CHIEF:
ASSOCIATE EDITOR:
Nomenclature
a(t) | = | The multiplicative sensor faults |
e, ė | = | The tracking errors and its derivatives |
FLSs | = | Fuzzy logic systems |
= | Unknown bounded smooth nonlinear functions | |
u | = | The system input |
γ | = | The weight vector |
= | The estimated value and estimated error of γ | |
v(t) | = | The additive sensor faults |
= | The system states | |
= | The system states subject to sensor failures | |
= | The desired trajectories | |
= | The approximate error and its upper bounded | |
s1, s2 and S | = | The auxiliary functions and composite sliding form surface |
= | The fuzzy basis functions | |
k1, k2 | = | Positive parameters |
Acknowledgments
The authors would like to sincerely extend their appreciation to the editor in-chief, the associate editor, and the anonymous reviewers for their constructive comments which helped improve the quality and presentation of this paper.
Disclosure statement
No potential conflict of interest was reported by the author(s).