Observer-Based Adaptive Fault-Tolerant Control of A Class of Nonlinear Systems With Actuator Failures

The output feedback tracking control problem is studied for a class of uncertain nonlinear systems with actuator failures. An adaptive observer is designed to reconstruct immeasureable state information of the system, and an observer-based adaptive fault-tolerant control (FTC) strategy is developed recursively by backstepping methods, neural networks (NNs), FTC theory and the dynamic surface control (DSC) technique. The proposed strategy is only dependent on output information, and there is no requirement for accurate parameters of the system. In theory, the stability of the closed-loop system is proven that all signals are uniformly ultimately bounded and the control scheme can force the tracking error converge to a small neighborhood of the origin.