Robust adaptive fault-tolerant control for uncertain linear systems with actuator failures

This study is concerned with the robust adaptive fault-tolerant compensation control problem for linear systems with parameter uncertainty, disturbance and actuator faults including outage, loss of effectiveness and stuck. It is assumed that the lower and upper bounds of actuator efficiency factor, the upper bounds of disturbance and the unparametrisable time-varying stuck fault, are unknown. Then, according to the information from the adaptive mechanism, the effect of actuator fault, exogenous disturbance and parameter uncertainty can be eliminated completely by designing adaptive state feedback controller. Furthermore, it is shown that the solutions of the resulting adaptive closed-loop system are uniformly bounded, the states converge asymptotically to zero. Finally, two examples are given to illustrate the effectiveness and applicability of the proposed design method.