Adaptive fault tolerant control for a class of MIMO nonlinear systems with input and state constraints

Input and state constraints have always been a practical consideration in engineering systems. How to address such constraints, especially when the actuator is subject to unknown faults, is of practically important. In this work, we present a novel adaptive fault tolerant control (FTC) scheme for a class of multi-input multi-output (MIMO) nonlinear systems with input and state constraints and subject to multiplicative and additive actuator faults. We show that under the proposed adaptive FTC scheme, exponential convergence of the output tracking error into a small neighbourhood of zero is guaranteed, while the constraints on the system state will not be violated during operation. All closed loop signals are shown to be bounded. An illustrative example is presented to demonstrate the effectiveness of the proposed FTC scheme.