A finite-time fuzzy adaptive output-feedback fault-tolerant control for underactuated wheeled mobile robots systems
This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problem for a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuator faults. The UWMR system includes unknown nonlinear dynamics and immeasurable states. Fuzz...
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| Format: | Article |
| Language: | English |
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KeAi Communications Co., Ltd.
2024-06-01
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| Series: | Journal of Automation and Intelligence |
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S2949855424000066 |
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| author | Pingfan Liu Shaocheng Tong |
| author_facet | Pingfan Liu Shaocheng Tong |
| author_sort | Pingfan Liu |
| collection | DOAJ |
| description | This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problem for a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuator faults. The UWMR system includes unknown nonlinear dynamics and immeasurable states. Fuzzy logic systems (FLSs) are utilized to work out immeasurable functions. Furthermore, with the support of the backstepping control technique and adaptive fuzzy state observer, a fuzzy adaptive finite-time output-feedback FTC scheme is developed under the intermittent actuator faults. It is testifying the scheme can ensure the controlled nonlinear UWMRs is stable and the estimation errors are convergent. Finally, the comparison results and simulation validate the effectiveness of the proposed fuzzy adaptive finite-time FTC approach. |
| format | Article |
| id | doaj-art-6bacbaaf4e094ebea8f5fd53f1cf50ab |
| institution | OA Journals |
| issn | 2949-8554 |
| language | English |
| publishDate | 2024-06-01 |
| publisher | KeAi Communications Co., Ltd. |
| record_format | Article |
| series | Journal of Automation and Intelligence |
| spelling | doaj-art-6bacbaaf4e094ebea8f5fd53f1cf50ab2025-08-20T01:49:31ZengKeAi Communications Co., Ltd.Journal of Automation and Intelligence2949-85542024-06-013211111810.1016/j.jai.2024.02.005A finite-time fuzzy adaptive output-feedback fault-tolerant control for underactuated wheeled mobile robots systemsPingfan Liu0Shaocheng Tong1The Electrical Engineering College, Liaoning University of Technology, Jinzhou, Liaoning, 121001, ChinaCollege of Science, Liaoning University of Technology, Jinzhou, Liaoning, 121001, China; Corresponding author.This paper investigates the adaptive fuzzy finite-time output-feedback fault-tolerant control (FTC) problem for a class of nonlinear underactuated wheeled mobile robots (UWMRs) system with intermittent actuator faults. The UWMR system includes unknown nonlinear dynamics and immeasurable states. Fuzzy logic systems (FLSs) are utilized to work out immeasurable functions. Furthermore, with the support of the backstepping control technique and adaptive fuzzy state observer, a fuzzy adaptive finite-time output-feedback FTC scheme is developed under the intermittent actuator faults. It is testifying the scheme can ensure the controlled nonlinear UWMRs is stable and the estimation errors are convergent. Finally, the comparison results and simulation validate the effectiveness of the proposed fuzzy adaptive finite-time FTC approach.http://www.sciencedirect.com/science/article/pii/S2949855424000066Underactuated wheeled mobile robots systemFinite-timeFuzzy adaptive fault-tolerant controlOutput-feedbackIntermittent actuator faults |
| spellingShingle | Pingfan Liu Shaocheng Tong A finite-time fuzzy adaptive output-feedback fault-tolerant control for underactuated wheeled mobile robots systems Journal of Automation and Intelligence Underactuated wheeled mobile robots system Finite-time Fuzzy adaptive fault-tolerant control Output-feedback Intermittent actuator faults |
| title | A finite-time fuzzy adaptive output-feedback fault-tolerant control for underactuated wheeled mobile robots systems |
| title_full | A finite-time fuzzy adaptive output-feedback fault-tolerant control for underactuated wheeled mobile robots systems |
| title_fullStr | A finite-time fuzzy adaptive output-feedback fault-tolerant control for underactuated wheeled mobile robots systems |
| title_full_unstemmed | A finite-time fuzzy adaptive output-feedback fault-tolerant control for underactuated wheeled mobile robots systems |
| title_short | A finite-time fuzzy adaptive output-feedback fault-tolerant control for underactuated wheeled mobile robots systems |
| title_sort | finite time fuzzy adaptive output feedback fault tolerant control for underactuated wheeled mobile robots systems |
| topic | Underactuated wheeled mobile robots system Finite-time Fuzzy adaptive fault-tolerant control Output-feedback Intermittent actuator faults |
| url | http://www.sciencedirect.com/science/article/pii/S2949855424000066 |
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