A new global fuzzy fault-tolerant control for a double inverted pendulum based on time-delay replacement
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.
KeywordsDouble inverted pendulum Time-delay systems Global stability Fault-tolerant control Fuzzy approximation
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).
Conflict of interest
The authors declared that they have no conflicts of interest to this work.
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