Finite-Time Adaptive Fuzzy Control for Unmodeled Dynamical Systems with Actuator Faults

Abstract

This article concentrates upon the issue of finite-time tracking control for a category of nonlinear systems in pure-feedback form with actuator faults and unmodeled dynamics, where the loss of effectiveness and bias fault are considered. Meanwhile, the function approximation method utilizing fuzzy logic systems and dynamic surface control approach with first-order filter are implemented to model the unknown nonlinear terms induced from the proposed controller procedure and tackle the “explosion of complexity” issue of the classic backstepping method. The use of the maximal norm of the weight vector estimation method and adaptive approach reduces the computation load induced by fuzzy logic systems. Within the framework of backstepping control, a finite-time adaptive fuzzy fault-tolerant control protocol is derived to guarantee the boundedness of all signals and tracking error of the controlled system within a finite-time. Simulation studies are offered to show the validity of the derived theoretical results of the finite-time control protocol.