Adaptive control for a class of nonlinear systems with output constraints and actuator faults

In this paper, we present a novel adaptive fault tolerant control (FTC) scheme for a class of nonlinear systems with actuator faults and constraint requirement on the system output tracking error. The gain functions of the nonlinear systems under discussion can be unknown and state dependent, without assuming any known information for the lower and upper bounds of the gain functions as well as the actuator faults. We show that under the proposed adaptive FTC scheme, exponential convergence of the output tracking error into a small set around zero is guaranteed, while the constraint requirement on the system output tracking error will not be violated during operation. An illustrative example is presented to further demonstrate the effectiveness of the proposed control scheme.