Adaptive Fault-tolerant Control for Uncertain Nonlinear System with Guaranteed Pre-described Performance

In this paper we present a computationally inexpensive adaptive control method for a class of single-input single-output (SISO) uncertain nonlinear dynamic system with actuator failure, modeling uncertainties and external disturbances. By blending system deep-rooted information into backstepping control design and with the help of Nussbaum gains, we develop a robust adaptive control scheme to deal with system uncertainties and actuation failures, which ensures pre-described performance specifications without involving complex online computations. Both theoretical analysis and numerical simulation verify the effectiveness and benefits of the proposed method.