Finite-Time Adaptive Fault-Tolerant Control for a Class of Nonlinear Systems with Actuator Faults

This paper considers the problem of finite-time adaptive fault-tolerant control for a class of nonlinear systems with actuator faults. Based on the strict back-stepping method, the controllers and the corresponding adaptive update laws are designed in each step. Therefore, the effects of actuator faults and unknown parameter uncertainties on the system are effectively compensated. Furthermore, it is shown that tracking errors can converge to a small neighborhood of the origin in a finite-time, and all the closed-loop signals are bounded. Finally, simulation results are given to illustrate the efficiency of the proposed control scheme.