关键词: 互联双倒立摆, 时滞系统, 全局稳定性, 容错控制

Abstract: 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.

Key words: double-inverted pendulum, time-delay systems, global stability, fault-tolerant control