Fault-tolerant Tracking Control for Nonlinear NCSs with Time-delay and Data Loss Failure in Dual-channel Based on Iterative Learning

Abstract

In this paper, for nonlinear networked control systems (NCSs) with dual-channel data packet loss and time-delay failure, the problem of tracking the desired trajectory is discussed by using PD-type iterative learning control (ILC). In the mathematical modeling of the data transmission process for the NCSs, the dual-channel failure of the measurement channel and the control channel is considered. The data loss and network time-delay are described as the random Bernoulli process with known probability. The sufficient condition to ensure the algorithm convergence is given. This sufficient condition indicates that in the network environment with dual-channel data loss and time-delay, when the system meets the given convergence conditions, the controlled system with input disturbances can converge to the desired trajectory as the number of iterative learning increases. Finally, a simulation example verifies the effectiveness of the proposed method.