Robust adaptive fault-tolerant tracking control for a class of high-order nonlinear system with finite-time prescribed performance

In this article, an improved prescribed performance adaptive control strategy is developed to handle the output tracking control problem for a class of nonlinear high-order systems with actuator faults. The actuator faults considered include the bias fault and gain fault models. A technique of adding a power integrator is utilized to deal with the controller design problem of high-order system. With the help of backstepping technology and the classic adaptive control, an output tracking control scheme is proposed, which can guarantee that all signals of the closed-loop system are bounded and the tracking error converges to a finite-time predetermined region. Finally, the feasibility of the presented control method is tested through the simulation results.