Performance-guaranteed fault tolerant control for Euler–Lagrange systems with actuator faults and uncertain disturbance

Abstract

This article investigates the prescribed performance given-time tracking control problem for Euler Lagrange system with actuator fault and external disturbance. In the control design procedure, we introduce an adjustment function and a modular sliding mode surface to construct a transformation variable with the performance constraints. By utilizing barrier Lyapunov stable analysis method and fixed time theory, a prescribed performance state-feedback control scheme with specified time is proposed. In particular, the designed controller is equipped with an adjustable control gain structure, such that the influence caused by external disturbance and actuator fault can be eliminated by the dynamic transformation of gain. Moreover, the proposed control strategy requires no accurate model information and upper bound of the disturbance, is developed to achieve the prescribed performance given-time tracking control problem. The rigorous mathematical stability proof is given. Finally, numerical simulations for the tracking control are presented to demonstrate the effectiveness and robustness of the proposed control method.