Indirect adaptive fault-tolerant control for T-S fuzzy systems with actuator failures

In this paper, we consider T-S fuzzy systems with redundant actuators and design a novel adaptive fault-tolerant control scheme to compensate their actuator failures. The advantage of the proposed method is that it can deal with both the parameter uncertainties and failure uncertainties (i.e. the occurrence time, size and mode of the failure are unknown), and does not require a fault detection unit. A unified control structure is designed to accommodate different failure situations. When failures occur, the parameter adaptation law can tune the controller parameters automatically to compensate the effects of failure and achieve asymptotical state tracking. Simulation results have demonstrated the effectiveness of the proposed scheme.