Fault-Tolerant Control of Dual-Motor-Driven Systems With Uncertainties and Actuator Faults

This article addresses the significant challenge of fault-tolerant control in dual-linear-motor-driven systems, particularly subject to unstructured dynamics and non-ideal actuation behaviors. Unlike previous studies, this work operates under minimal assumptions regarding unknown system conditions and actuator faults, making it applicable to a wider range of practical scenarios. In addition, it focuses on industrial applications where the dual-linear-motor configuration generates small rotational angles without the need for supplementary rotary actuators. To address these complexities, a novel approximation-free fault-tolerant control approach is introduced with a streamlined structure and high computational efficiency. The proposed approach guarantees high-precision tracking, prescribed transient and steady-state performance, and robust compensation for uncertainties and disturbances. These benefits are achieved through the introduction of a new error conversion mechanism and a dynamic adjustment function. The simulation results on a dual-linear-motor-driven platform demonstrate that the proposed method maintains accurate tracking performance under actuator faults, thereby verifying the theoretical analysis.