Tuning function-based command filtered fault-tolerant fixed-time control for nonlinear systems with sensor/actuator faults

In this article, the issue of fixed-time fault-tolerant control is studied for a class of nonlinear systems with sensor/actuator faults. The tuning functions and command filters are used to solve the problem of over-parameterization and differential explosion in traditional backstepping method. The above methods simplify the derivation and reduce the calculation burden of the system respectively. Moreover, the introduction of fixed-time control further improves the rapidity of the system. Another feature of this design is that the fixed-time stability is finally realized by introducing a special Lyapunov function, rather than the practical fixed-time stability. The tracking error can be guaranteed to converge to the origin in a fixed time. Simulation results show that the proposed control strategy is effective even if there are actuator/actuator faults in the system.