Adaptive fuzzy control of unknown nonlinear systems with actuator failures for robust output tracking

In this paper, an adaptive fuzzy approach is proposed to deal with robust output tracking of unknown nonlinear systems with actuator failures. The actuator failures under consideration can be both of lock-in-place and loss of effectiveness. By incorporating fuzzy logic approximation, adaptive algorithm and attenuation technique to our design, a fault tolerant control law is developed to guarantee desired output tracking of the controlled system to the given reference model as well as the closed-loop stability, despite there are unknown actuator failures and large uncertainties in the system. A numerical simulation example illustrates the effectiveness of the proposed control approach.