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Fixed-time fault-tolerant control for electro-mechanical braking systems under input saturation and time-delay
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DOI：10.1016/j.isatra.2026.05.004.png)
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Abstract
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• A novel EMB model, including actuator, supply faults, and input time delay, is proposed. • A fixed-time backstepping technique based on funnel constraint function is proposed. • A control system is proposed to guarantee stability under disturbances, supply faults, and input time delay. • Fixed-time stability of the overall system is rigorously guaranteed under road conditions.
Keywords:
EMB system
fault-tolerant control
fixed-time stability
input time delay
backstepping control
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