A new global fuzzy fault-tolerant control for a double inverted pendulum based on time-delay replacement

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...
Ausführliche Beschreibung

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. Ausführliche Beschreibung