Global Adaptive Control for Uncertain Nonlinear Systems With Sensor and Actuator Faults

In this article, the global adaptive fault-tolerant control is considered for a class of uncertain nonlinear systems with sensors, actuator faults, and disturbance. Different from the previous results, there are no a priori bounds of the sensor sensitivity, actuation effectiveness, and disturbance. A switching-type adaptive controller is designed where the controller parameter is tuned online by the proposed switching mechanism. It has also been proven that global stability can be achieved under the designed controller. Finally, a simulation example is provided to illustrate the effectiveness of the proposed method.

Automated summary

This article proposes a global adaptive fault-tolerant control method for uncertain nonlinear systems, without a priori bounds of sensor sensitivity, actuation effectiveness, and disturbance. The switching-type adaptive controller is designed for online parameter tuning, and it has been proven to achieve global stability under the designed controller. A simulation example is provided to illustrate the effectiveness of the proposed method.