互联双倒立摆自适应容错模糊控制

针对互联双倒立摆系统，提出了一种基于时滞代换的自适应容错控制方案。该方案用有界的参考信号代换模糊逼近器输入中的未知时滞信号，这使得控制器的设计不再依赖于时滞假设条件。容错反推控制技术和自适应技术相结合来处理代换误差和逼近误差。所提出的方案能有效补偿所有四种类型的执行器故障，同时还可保证闭环系统的全局稳定性。仿真结果进一步验证了该方法的有效性。

Adaptive fault-tolerant fuzzy control of interconnected double inverted pendulum

A delay replacement based adaptive fault-tolerant control method is proposed for a double-inverted pendulum system which is connected by an unknown device. The unknown time delay input signals of the fuzzy approximator are replaced by the bounded references signals, and as a result, the control design is independent on the delay assumptions any more. The fault-tolerant backstepping control and the adaptive control technique are combined to deal with the errors of the replacement and the approximation. The proposed control scheme can compensate for all of the four types of actor faults efficiently, and global stability of the closed-loop system is guaranteed. Simulation results are provided to show the effectiveness of the control approach.