Observer-Based Fault Tolerance Control for a Class of Uncertain
Nonlinear Systems with Actuator Faults and Obstacle Avoidance
Abstract
This paper studies the problem of obstacle avoidance and trajectory
tracking for a class of uncertain nonlinear systems with unmeasured
states and actuator faults. The main difficulty is that actuator faults
may cause significant transient tracking errors, which might lead to
collisions. To overcome this difficulty, an adaptive observer is
developed to estimate system states and compensate for actuator faults.
Additionally, the integral-multiplicative Barrier Lyapunov function
(BLF) is integrated into the backstepping procedure to overcome the
dynamics mismatching problem of the existing SUM-type BLF. The proposed
adaptive scheme can avoid collisions in a multi-obstacle environment
even if the actuator faults occur, and all the signals are uniformly
ultimately bounded. Simulation results demonstrate the effectiveness of
this approach.