Robust Adaptive Fault-Tolerant Tracking Control for Uncertain Linear Systems With Actuator Failures Based on the Closed-Loop Reference Model

Abstract

This paper addresses the problem of robust adaptive fault-tolerant tracking control for a class of linear systems with parameter uncertainty, external disturbance, and actuator faults including loss of effectiveness, outage, and stuck. According to the online estimation information provided by adaptive mechanism, a fault-tolerant compensation controller is constructed for robust tracking of closed-loop reference model systems. Compared with the existing results, by introducing the closed loop reference model which provides the additional degree-of-freedom, the transient performance of the systems can be improved. It is shown that the signals of the resulting adaptive closed-loop systems are bounded and the tracking error converges to zero asymptotically. A simulation example is provided to verify the effectiveness of the proposed fault-tolerant design method.