Adaptive Fault-Tolerant Control for a Class of Nonlinear MIMO Systems with Matched and Mismatched Uncertainties

Abstract

This paper proposed a fault-tolerant control (FTC) for nonlinear control-affine uncertain MIMO systems. The proposed controller is no need for on-line fault detection and diagnosis unit, and inexpensive to compute. An adaptive FTC designed method based on Lyapunov-like approach is developed to overcome the affect of parameter uncertainties, matched and mismatched disturbance, and actuator failures. And the theoretical analysis demonstrates that asymptotical tracking error convergence would be guaranteed by the controller. Numerical simulations are provided to validate and illustrate the benefits of the proposed control scheme.