Abstract
In this paper, a delay replacement-based adaptive fault-tolerant control method is proposed for a double inverted pendulum connected by an unknown device. By combining fuzzy approximation and integer backstepping, a new time-delay assumption-independent state feedback decentralized control scheme is developed based on directly replacing the unbounded time-delay argument of fuzzy approximators with the bounded reference signals. Furthermore, all of the two typical types of actuator faults can be compensated for on-line. Compared with the existing results, the time-delay assumptions that need to be test and verify in applications are eliminated, and global bounded stability of the closed-loop system is guaranteed. Simulation results are provided to show the effectiveness of the control approach.
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Acknowledgments
This work was supported by the Innovation Scientists and Technicians Troop Construction Projects of Henan Province (C20150028), the Program for Science & Technology Innovation Talents in Universities of Henan Province (15HASTIT021), the Science and Technology Project of Henan Province (142300410114), and the Foundation of Henan Educational Committee (13A520017).
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The authors declared that they have no conflicts of interest to this work.
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Guo, T., Xiong, J. A new global fuzzy fault-tolerant control for a double inverted pendulum based on time-delay replacement. Neural Comput & Applic 29, 467–476 (2018). https://doi.org/10.1007/s00521-016-2576-1
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DOI: https://doi.org/10.1007/s00521-016-2576-1