Adaptive observer-based output feedback control design for fault compensation and tolerance

An adaptive observer-based output tracking control scheme is designed for plants with unknown actuator failures and uncertainties. Such failures are characterized by the failure pattern that some inputs are stuck at fixed value at unknown time instants. When implemented with the estimated state variables and parameters from the adaptive observer, the designed controller ensures that all closed-loop signals are bounded and the plant output tracks a reference output asymptotically, despite of the uncertainties of plant parameters and actuator failures. Simulation results verify the desired system performance in the presence of actuator faults.