In this paper, an adaptive fault-tolerant method is proposed to synthesize a compensation controller for the uncertain nonlinear pure-feedback systems possessing dead-zone actuators and stochastic failures. Each actuator’s failure mode is described by a scalar Markovian type function, which is not only much more practical in control engineering but also challenging in control theory. By exploring the adaptive backstepping methodology, a compensation scheme for actuator failure is presented to guarantee that the solution of the closed-loop system is a unique and bounded in probability. Importantly, the proposed control method can achieve arbitrarily small tracking error in the presence of nonlinear actuators with random failures. The case study of active suspension system using the adaptive fault-tolerant compensation controller shows the effectiveness of the presented method.

中文翻译：

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自适应容错补偿控制及其在非线性悬架系统中的应用

在本文中，提出了一种自适应容错方法来合成具有死区执行器和随机故障的不确定非线性纯反馈系统的补偿控制器。每个执行器的故障模式由标量马尔可夫型函数描述，这不仅在控制工程中更加实用，而且在控制理论中也具有挑战性。通过探索自适应反推方法，提出了一种执行器故障补偿方案，以保证闭环系统的解是唯一的且概率有界。重要的是，所提出的控制方法可以在存在随机故障的非线性执行器的情况下实现任意小的跟踪误差。