Fuzzy adaptive robust fault-tolerant control for SISO uncertain nonlinear systems via backstepping

In this paper, we have developed an adaptive fuzzy fault tolerant control approach for a class of perturbed and strict feedback nonlinear systems with actuators faults. Based on the idea of a corrective control law which activated in the presence of a fault, fuzzy logic systems are used to learn the unknown dynamics and the unknown fault functions on-line and provide the fault tolerant control law. Combining the fuzzy adaptive control and the backstepping design techniques, a robust fuzzy adaptive fault control approach is developed and the closed-loop stability of the proposed fault tolerant control scheme is rigorously proved using Lyapunov theory and illustrated based on a simulation example.