title: Adaptive robust fault tolerant control design for a class of nonlinear uncertain MIMO systems with quantization.
abstract: In this paper, we investigate the adaptive control problem for a class of nonlinear uncertain MIMO systems with actuator faults and quantization effects. Under some mild conditions, an adaptive robust fault-tolerant control is developed to compensate the affects of uncertainties, actuator failures and errors caused by quantization, and a range of the parameters for these quantizers is established. Furthermore, a Lyapunov-like approach is adopted to demonstrate that the ultimately uniformly bounded output tracking error is guaranteed by the controller, and the signals of the closed-loop system are ensured to be bounded, even in the presence of at most m-q actuators stuck or outage. Finally, numerical simulations are provided to verify and illustrate the effectiveness of the proposed adaptive schemes.
authors.affiliation: School of Automation, Chongqing University, Chongqing 40044, PR China; Chongqing Communication College, Chongqing, 40035, PR China.
authors.forename: Wei
authors.initials: W
authors.lastname: Ao
authors.affiliation: School of Automation, Chongqing University, Chongqing 40044, PR China.
authors.forename: Yongdong
authors.initials: Y
authors.lastname: Song
authors.affiliation: School of Electrical and Electronic Engineering, Nanyang Technological University, 639798 Singapore, Singapore.
authors.forename: Changyun
authors.initials: C
authors.lastname: Wen
keywords: Actuation failure; Adaptive robust control; Fault-tolerant control; Quantization