Abstract
This paper considers the state stabilization problem for a class of non-affine uncertain MIMO systems with actuation failures. An adaptive robust fault-tolerant control is developed to compensate the affect of uncertainties, actuator failures. And theoretical analysis based on a Lyapunov-like approach demonstrates that, under some proper conditions, the close-loop system would be stabilized and ultimately uniformly bounded state error could be guaranteed by the controller. Further, the proposed controller is no need for on-line fault detection and diagnosis unit, and inexpensive to compute. At last, numerical simulations are provided to validate and illustrate the benefits and effectiveness of the proposed control scheme.
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