Backstepping-Based Adaptive Control for Nonlinear Systems with Actuator Failures and Uncertain Parameters

This paper concerns with the adaptive control problem for nonlinearly parameterized systems with actuator faults. First, to deal with the uncertain parameters, backstepping technique and parameter separation method are combined to construct an adaptive control scheme. Additionally, actuator fault with actuator stuck case considered in this work is a challenging issue. In order to handle the actuator failures, a novel adaptive fault-tolerant control method is proposed. Then, applying the designed adaptive fault-tolerant controller to the nonlinearly parameterized systems, the global stability is ensured and all the signals in the nonlinear systems are bounded. Finally, a simulation example is presented to validate the effectiveness of the control method.