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Deep neural network-based adaptive supervisory control for strict-feedback nonlinear systems with sensor and actuator faults

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  • Guo, Shanshan
  • Li, Jinghao
  • Yang, Guang-Hong

Abstract

This paper investigates the adaptive supervisory control problem for strict-feedback nonlinear systems with sensor and actuator faults, where some healthy actuators serve as backups. A deep neural network whose weights are updated in real-time is introduced to approximate the unknown nonlinearities. Based on this deep neural network, an adaptive supervisory control scheme without overparameterization is developed to ensure the prescribed performance of the resulting closed-loop systems by switching from the current faulty actuator to the subsequent healthy one. It is shown that the proposed deep neural network-based adaptive supervisory control scheme can achieve superior tracking performance to the traditional two-layer neural network-based adaptive supervisory control scheme. Finally, a numerical example is provided to validate the effectiveness of the presented control scheme.

Suggested Citation

  • Guo, Shanshan & Li, Jinghao & Yang, Guang-Hong, 2026. "Deep neural network-based adaptive supervisory control for strict-feedback nonlinear systems with sensor and actuator faults," Applied Mathematics and Computation, Elsevier, vol. 511(C).
    • Handle: RePEc:eee:apmaco:v:511:y:2026:i:c:s0096300325004709
    DOI: 10.1016/j.amc.2025.129745
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    References listed on IDEAS

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    1. Meng, Xin & Zhai, Ding & Fu, Zhumu & Xie, Xiangpeng, 2020. "Adaptive fault tolerant control for a class of switched nonlinear systems with unknown control directions," Applied Mathematics and Computation, Elsevier, vol. 370(C).
    2. Chen, Chen & Li, Jinghao, 2025. "A composite filter-based approach to adaptive prescribed-time output-feedback control of strict-feedback nonlinear systems with output and input quantization," Applied Mathematics and Computation, Elsevier, vol. 494(C).
    3. Li, Ming-Yang & Xie, Wen-Bo & Wang, Yu-Long & Hu, Xin, 2022. "Prescribed performance trajectory tracking fault-tolerant control for dynamic positioning vessels under velocity constraints," Applied Mathematics and Computation, Elsevier, vol. 431(C).
    4. Xia, Pei-Zhen & Chang, Xiao-Heng, 2025. "Observer-based security control for nonlinear networked systems: The SCP model of semi-Markov kernel approach," Applied Mathematics and Computation, Elsevier, vol. 498(C).
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