Adaptive fuzzy finite-time output feedback fault-tolerant control for MIMO stochastic nonlinear systems with non-affine nonlinear faults

Abstract

This paper investigates adaptive fuzzy finite-time output feedback fault-tolerant tracking control problem for multiple-input multiple-output (MIMO) stochastic non-strict feedback nonlinear systems with non-affine nonlinear faults and states unmeasured. Firstly, high-gain fuzzy state observers are constructed to overcome the state unmeasured problem in the system. Secondly, the mean-value theorem and input compensation techniques are employed to decouple non-affine nonlinear faults, and the resulting unknown control coefficients problem is handled using Nussbaum functions. In addition, dynamic surface control techniques and error compensation mechanisms are considered in the controller design, which effectively decreases the computational complexity of the control scheme. By combining the adaptive backstepping technique with finite-time control, a novel adaptive fuzzy dynamic surface finite-time output feedback fault-tolerant tracking control algorithm is proposed. The designed controller guarantees that all signals in the stochastic systems are semi-global finite-time stable in probability (SGFSP) as well as the tracking errors can converge to a small neighborhood within the origin in finite-time. Finally, two simulation examples are introduced to verify the effectiveness of the suggested control strategy.