Adaptive Fault-Tolerant Control for a Class of Uncertain Nonlinear Systems with Actuator Failures

摘要

In this paper, inspired by the actuator-switching strategy, an adaptive fault-tolerant control (FTC) scheme is proposed for a class of nonlinear systems with uncertain parameters, disturbances and actuator failures. A set of monitoring functions (MFs) are designed to supervise the behavior of some variables related to system states and parameter estimate. Once the failure is detected by one of the MFs, the connected actuator is switched from the faulty one to a healthy one. It can be shown that the prescribed transient and steady-state performance for the tracking error can be achieved regardless of the occurrences of failures.