Adaptive Finite-Time Funnel Control for Stochastic Nonlinear Systems with Actuator Faults

Abstract

The finite-time funnel control problem is addressed for stochastic nonlinear systems with actuator faults. In the case of stochastic disturbance and actuator faults, a funnel function is designed to reduce the overshoot of the system and improve the tracking performance of system, where the tracking error reaches the desired accuracy. An adaptive finite-time controller compensates the effect of the actuator fault. A second-order tracking differentiator is adopted to address the “complexity explosion” issue caused by the repeated differentiations of the virtual controller. By applying the Lyapunov stability method, the stabilization of the closed-loop systems can be pledged. Finally, simulation results are given to prove the effectiveness of the proposed algorithm.