This paper presents an adaptive fuzzy fault-tolerant tracking control for a class of unknown multi-variable nonlinear systems, with external disturbances, unknown control sign, and actuator faults. By employing fuzzy logic systems, the unknown nonlinear dynamics and the state-dependent actuator faults are approximated, and by utilizing a Nussbaum-type function, the issue of unknown control sign is solved. The proposed control scheme is based on two forms, an adaptive fuzzy controller along with a robust controller that is equipped with a Nussbaum-type gain function, which guarantees stability with the boundedness of all signals involved in the closed-loop system. To prove the accuracy, and the effectiveness of the proposed control scheme, a simulation example on two-inverted pendulums system is carried out.

本文提出了一类具有外部干扰，未知控制符号和执行器故障的未知多变量非线性系统的自适应模糊容错跟踪控制。通过采用模糊逻辑系统，对未知的非线性动力学和状态相关的执行器故障进行了近似，并利用Nussbaum型函数解决了未知控制符号的问题。所提出的控制方案基于两种形式，即自适应模糊控制器以及配备了Nussbaum型增益函数的鲁棒控制器，该鲁棒控制器可确保闭环系统中所有信号的有界稳定性。为了证明所提控制方案的准确性和有效性，以两倒立摆系统为例进行了仿真。