Adaptive compensation control of nonlinear systems with unknown actuator failures

In this paper, by using bound estimation method, Nussbaum function, K-filters and higher-order Lyapunov function, an adaptive output feedback compensation control scheme is proposed for uncertain nonlinear systems with infinite number of actuator failures and unknown control direction. A parametric model with unknown system uncertainties and infinite actuator failures is established, which is different from the existing results. This scheme ensures that closed-loop signals are globally uniformly bounded. By properly selecting the design parameters, the tracking errors converges to a small neighborhood of the origin. Finally, two simulation examples are given to demonstrate its efficiency of the proposed design scheme.