Neural Adaptive Fault Tolerant Control of Nonlinear Fractional Order Systems via Terminal Sliding Mode Approach

[+] Author and Article Information
Bijan Hashtarkhani

Department of Electrical Engineering, Sahand University of Technology, Sahand, Tabriz, Iran, PO. BOX 51335/1996

Mohammad Javad Khosrowjerdi

Department of Electrical Engineering, Sahand University of Technology, Sahand, Tabriz, Iran, PO. BOX 51335/1996; Tel.: +98 41 33444322; Fax: +98 41 33444322

1Corresponding author.

ASME doi:10.1115/1.4042141 History: Received September 24, 2018; Revised November 22, 2018


In this paper, an adaptive neural output tracking control design is established for uncertain nonlinear fractional order strict feedback form systems in the presence of unknown actuator faults. By means of fractional backstepping combined with terminal sliding mode control method, fractional adaptive state feedback control laws are designed to accomplish finite-time output tracking and closed-loop stability in the presence of actuator faults. The unknown nonlinear terms are approximated by radial basis function neural network with unknown approximation error upper bound. The finite-time stability of the closed-loop system and output tracking achievement is proved by using fractional Lyapunov stability Theorem. Simulation results demonstrate the effectiveness of the proposed approach to ensure actuator fault tolerant control and output tracking property for the control of fractional Genesio-Tesi and fractional Duffing's Oscillator systems.

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