Robust Adaptive Fault-Tolerant Control for a Class of Uncertain Nonlinear Time Delay Systems

This paper is concerned with the adaptive fault-tolerant control problem for a class of Lipschitz nonlinear systems with multiple delayed-state perturbations. By introducing a positive nonlinear control gain function, a bound estimation approach and an integrable auxiliary signal, the effects of the unknown time-delay functions, external disturbances, and actuator faults can be compensated completely. It is shown that the closed-loop signals are bounded and the system state converges to zero asymptotically by the proposed control scheme. In comparing with the existing results, the time delays and actuator faults are allowed to be time varying and stuck, respectively. The obtained results are illustrated by a simulation example.