IEEE Trans Cybern. 2019 Jan;49(1):2-13. doi: 10.1109/TCYB.2017.2758025. Epub 2017 Oct 12.
Hysteresis exists ubiquitously in physical actuators. Besides, actuator failures/faults may also occur in practice. Both effects would deteriorate the transient tracking performance, and even trigger instability. In this paper, we consider the problem of compensating for actuator failures and input hysteresis by proposing a fuzzy control scheme for stochastic nonlinear systems. Compared with the existing research on stochastic nonlinear uncertain systems, it is found that how to guarantee a prescribed transient tracking performance when taking into account actuator failures and hysteresis simultaneously also remains to be answered. Our proposed control scheme is designed on the basis of the fuzzy logic system and backstepping techniques for this purpose. It is proven that all the signals remain bounded and the tracking error is ensured to be within a preestablished bound with the failures of hysteretic actuator. Finally, simulations are provided to illustrate the effectiveness of the obtained theoretical results.
磁滞现象普遍存在于物理执行器中。此外，执行器故障/失效在实际中也可能发生。这两种影响都会降低瞬态跟踪性能，甚至引发不稳定性。在本文中，我们通过为随机非线性系统提出模糊控制方案来考虑补偿执行器故障和输入磁滞的问题。与现有的随机非线性不确定系统的研究相比，人们发现，当同时考虑执行器故障和磁滞时，如何保证规定的瞬态跟踪性能仍然是一个待解决的问题。我们的控制方案是基于模糊逻辑系统和反推技术设计的。证明了在滞后执行器故障的情况下，所有信号都保持有界，并且跟踪误差确保在预定的范围内。最后，通过仿真验证了所得到的理论结果的有效性。
