Fault-Tolerant Optimal Control for Discrete-Time Nonlinear System Subjected to Input Saturation: A Dynamic Event-Triggered Approach

This paper investigates the dynamic event-triggered fault-tolerant optimal control strategy for a class of output feedback nonlinear discrete-time systems subject to actuator faults and input saturations. To save the communication resources between the sensor and the controller, the so-called dynami...

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Vydáno v:IEEE transactions on cybernetics Ročník 51; číslo 6; s. 2956 - 2968
Hlavní autoři: Zhang, Peng, Yuan, Yuan, Guo, Lei
Médium: Journal Article
Jazyk:angličtina
Vydáno: United States IEEE 01.06.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Actuators
Adaptive control
Adaptive dynamic programming (ADP)
Algorithms
Discrete time systems
dynamic event-triggered mechanism (ETM)
Dynamic programming
Fault tolerance
Fault tolerant systems
fault-tolerant control (FTC)
Feedback control
Flexible manipulators
input saturation
neural network
Neural networks
Nonlinear control
Nonlinear dynamical systems
Nonlinear systems
Observers
Optimal control
Output feedback
Saturation
Schedules
ISSN:2168-2267, 2168-2275, 2168-2275
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Shrnutí:This paper investigates the dynamic event-triggered fault-tolerant optimal control strategy for a class of output feedback nonlinear discrete-time systems subject to actuator faults and input saturations. To save the communication resources between the sensor and the controller, the so-called dynamic event-triggered mechanism is adopted to schedule the measurement signal. A neural network-based observer is first designed to provide both the system states and fault information. Then, with consideration of the actuator saturation phenomenon, the adaptive dynamic programming (ADP) algorithm is designed based on the estimates provided by the observer. To reduce the computational burden, the optimal control strategy is implemented via the single network adaptive critic architecture. The sufficient conditions are provided to guarantee the boundedness of the overall closed-loop systems. Finally, the numerical simulations on a two-link flexible manipulator system are provided to verify the validity of the proposed control strategy.
Bibliografie:ObjectType-Article-1
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ISSN:2168-2267
2168-2275
2168-2275
DOI:10.1109/TCYB.2019.2923011