Abstract
In this paper, finite-time adaptive control (FTAC) is investigated for non-affine uncertain constrained nonlinear systems with actuator faults. The state constraints are dealt with by using nonlinear mapping (NM), and an auxiliary dynamical signal is used to handle the unknown dynamic uncertainties of the system. Based on the converted system, a FTAC strategy is designed via command filtered backstepping method. By introducing the compensation signals and adding them into the whole Lyapunov function, and with the help of the defined compact set in stability analysis, it is strictly proved that all signals are semi-globally practical finite-time stable (SGPFS) and all the states are within the specified open set. Simulation results verify the effectiveness of the proposed approach.
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