Adaptive fault estimation and fault‐tolerant tracking control for a class of non‐linear systems with output constraints

Abstract

This study investigates the problem of adaptive fault estimation and fault-tolerant control for a class of non-linear systems with output constraints. In order to estimate system faults and unmeasurable system states, a novel non-linear fault estimator with adaptive update law is constructed, which can receive better estimation accuracy, and the fault estimation error can be confined into a prescribed region. Moreover, a fault-tolerant tracking controller is designed to compensate the effect of faults based on backstepping techniques. It is proved that all the closed-loop system signals are uniformly ultimately bounded and the system output tracking error converges to a desired neighbourhood of origin. Finally, simulation results are provided to illustrate the efficiency of the proposed approach.