Fault-tolerant control for nonlinear systems with a dead zone: Reinforcement learning approach

Abstract

<abstract><p>This paper focuses on the adaptive reinforcement learning-based optimal control problem for standard nonstrict-feedback nonlinear systems with the actuator fault and an unknown dead zone. To simultaneously reduce the computational complexity and eliminate the local optimal problem, a novel neural network weight updated algorithm is presented to replace the classic gradient descent method. By utilizing the backstepping technique, the actor critic-based reinforcement learning control strategy is developed for high-order nonlinear nonstrict-feedback systems. In addition, two auxiliary parameters are presented to deal with the input dead zone and actuator fault respectively. All signals in the system are proven to be semi-globally uniformly ultimately bounded by Lyapunov theory analysis. At the end of the paper, some simulation results are shown to illustrate the remarkable effect of the proposed approach.</p></abstract>