Adaptive Fuzzy Fault-Tolerant Control for Uncertain Nonlinear Systems

A robust fault-tolerant adaptive fuzzy control design scheme for a class of perturbed and strict feedback nonlinear systems with actuators fault is proposed. The design is based on backstepping and dynamic surface technique. The continuous robust term is adopted to minimize the influence of modeling error or disturbance and the fuzzy logic systems are used to approximate to the nonlinear functions of systems and the fault functions. Meanwhile, we incorporate dynamic surface control technique into the design framework, and the "explosion of complexity" problem is avoided. By theoretical analysis, the closed loop system is proven to be uniformly ultimately bounded, with tracking error converging to a residual set. Simulation results demonstrate the effectiveness of the approach.