Control of uncertain nonlinear systems against actuator faults using adaptive fuzzy approximation

This paper studies the problem of fault-tolerant control (FTC) for a class of uncertain nonlinear systems which cannot be feedback linearized. These systems are unknown in their nonlinearities and subject to both lock-in-place and loss of effectiveness actuator faults. A novel fault-tolerant control approach is proposed by embedding adaptive fuzzy approximators into the backstepping design procedure. The designed controller can guarantee that all signals of the closed-loop system are uniformly ultimately bounded and the output tracking error converges to a small neighborhood of zero though there are uncertainties and actuator faults in the considered system. Simulation experiment is conducted and the simulation results demonstrate the effectiveness of the proposed control approach.