학술논문
Fault-Tolerant Control of Stochastic High-Order Fully Actuated Systems
Document Type
Periodical
Source
IEEE Transactions on Cybernetics IEEE Trans. Cybern. Cybernetics, IEEE Transactions on. 54(5):3225-3238 May, 2024
Subject
Language
ISSN
2168-2267
2168-2275
2168-2275
Abstract
In recent years, high-order fully actuated (HOFA) systems, founded by Prof. GR Duan, have recorded rapid progress for deterministic systems. However, the control issue of stochastic fully actuated systems is still an open problem. This study develops a novel stochastic HOFA system model that complements the existing HOFA methodology. Notably, stochastic signals can be considered in the proposed model, different from the case in the deterministic model. By adopting a high-order operator, equivalent control and stabilization control laws are realized to guarantee the global asymptotic stability in probability of the closed-loop system. For the system with sensor gain faults, an observer-based fault-tolerant control law is designed. Finally, the simulation results validate the effectiveness of the proposed control schemes.