Adaptive fuzzy fault-tolerant control for unknown nonlinear systems with disturbances

A class of unknown nonlinear systems subject to uncertain actuator faults and external disturbances will be studied in this paper with the help of fuzzy approximation theory. Using backstepping technique, a novel adaptive fuzzy control approach is proposed to accommodate the uncertain actuator faults during operation and deal with the external disturbances. The considered faults are modeled as both loss of effectiveness and lock-in-place (stuck at some unknown place). It is proved that the proposed control scheme can guarantee all signals of the closed-loop system semi-globally uniformly ultimately bounded and the tracking error between system output and reference signal converge to a small neighborhood of zero, though the nonlinear functions of the controlled system as well as the actuator faults and the external disturbances are all unknown. Simulation results demonstrate the effectiveness of the control approach.