Funnel-Based Adaptive Neural Fault-Tolerant Control for Nonlinear Systems with Dead-Zone and Actuator Faults: Application to Rigid Robot Manipulator and Inverted Pendulum Systems
This study addresses an adaptive neural funnel fault-tolerant control problem for a class of strict-feedback nonlinear systems with actuator faults and input dead zone. To guarantee the boundedness of the tracking error, a modified transformation for funnel error is devised and incorporated into the...
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| Format: | Article |
| Language: | English |
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Wiley
2024-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2024/5344619 |
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| _version_ | 1832540513256865792 |
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| author | Ymnah Alruwaily Mohamed Kharrat |
| author_facet | Ymnah Alruwaily Mohamed Kharrat |
| author_sort | Ymnah Alruwaily |
| collection | DOAJ |
| description | This study addresses an adaptive neural funnel fault-tolerant control problem for a class of strict-feedback nonlinear systems with actuator faults and input dead zone. To guarantee the boundedness of the tracking error, a modified transformation for funnel error is devised and incorporated into the control design process. To manage unknown nonlinear functions, radial basis function neural networks (RBFNN) are employed in designing an adaptive neural funnel fault-tolerant controller through the backstepping technique. The proposed controller guarantees the output tracking error stays within a predefined funnel, and all signals in the closed-loop system are semiglobally uniformly ultimately bounded (SGUUB). Finally, simulations of a rigid robot manipulator system and an inverted pendulum system are conducted to validate the practicality and effectiveness of the proposed control method. |
| format | Article |
| id | doaj-art-1facb05773b44cb585ce93ace7aaaa1c |
| institution | Kabale University |
| issn | 1099-0526 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-1facb05773b44cb585ce93ace7aaaa1c2025-02-05T00:00:02ZengWileyComplexity1099-05262024-01-01202410.1155/2024/5344619Funnel-Based Adaptive Neural Fault-Tolerant Control for Nonlinear Systems with Dead-Zone and Actuator Faults: Application to Rigid Robot Manipulator and Inverted Pendulum SystemsYmnah Alruwaily0Mohamed Kharrat1Department of MathematicsDepartment of MathematicsThis study addresses an adaptive neural funnel fault-tolerant control problem for a class of strict-feedback nonlinear systems with actuator faults and input dead zone. To guarantee the boundedness of the tracking error, a modified transformation for funnel error is devised and incorporated into the control design process. To manage unknown nonlinear functions, radial basis function neural networks (RBFNN) are employed in designing an adaptive neural funnel fault-tolerant controller through the backstepping technique. The proposed controller guarantees the output tracking error stays within a predefined funnel, and all signals in the closed-loop system are semiglobally uniformly ultimately bounded (SGUUB). Finally, simulations of a rigid robot manipulator system and an inverted pendulum system are conducted to validate the practicality and effectiveness of the proposed control method.http://dx.doi.org/10.1155/2024/5344619 |
| spellingShingle | Ymnah Alruwaily Mohamed Kharrat Funnel-Based Adaptive Neural Fault-Tolerant Control for Nonlinear Systems with Dead-Zone and Actuator Faults: Application to Rigid Robot Manipulator and Inverted Pendulum Systems Complexity |
| title | Funnel-Based Adaptive Neural Fault-Tolerant Control for Nonlinear Systems with Dead-Zone and Actuator Faults: Application to Rigid Robot Manipulator and Inverted Pendulum Systems |
| title_full | Funnel-Based Adaptive Neural Fault-Tolerant Control for Nonlinear Systems with Dead-Zone and Actuator Faults: Application to Rigid Robot Manipulator and Inverted Pendulum Systems |
| title_fullStr | Funnel-Based Adaptive Neural Fault-Tolerant Control for Nonlinear Systems with Dead-Zone and Actuator Faults: Application to Rigid Robot Manipulator and Inverted Pendulum Systems |
| title_full_unstemmed | Funnel-Based Adaptive Neural Fault-Tolerant Control for Nonlinear Systems with Dead-Zone and Actuator Faults: Application to Rigid Robot Manipulator and Inverted Pendulum Systems |
| title_short | Funnel-Based Adaptive Neural Fault-Tolerant Control for Nonlinear Systems with Dead-Zone and Actuator Faults: Application to Rigid Robot Manipulator and Inverted Pendulum Systems |
| title_sort | funnel based adaptive neural fault tolerant control for nonlinear systems with dead zone and actuator faults application to rigid robot manipulator and inverted pendulum systems |
| url | http://dx.doi.org/10.1155/2024/5344619 |
| work_keys_str_mv | AT ymnahalruwaily funnelbasedadaptiveneuralfaulttolerantcontrolfornonlinearsystemswithdeadzoneandactuatorfaultsapplicationtorigidrobotmanipulatorandinvertedpendulumsystems AT mohamedkharrat funnelbasedadaptiveneuralfaulttolerantcontrolfornonlinearsystemswithdeadzoneandactuatorfaultsapplicationtorigidrobotmanipulatorandinvertedpendulumsystems |