Adaptive fault tolerant control for a class of input and state constrained MIMO nonlinear systems

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198 Scopus citations


In this work, we present a novel adaptive fault tolerant control (FTC) scheme for a class of control input and system state constrained multi-input multi-output (MIMO) nonlinear systems with both multiplicative and additive actuator faults. The input constraints can be asymmetric, and the state constraints can be time-varying. A novel tan-type time-varying Barrier Lyapunov Function (BLF) is proposed to deal with the state constraints, and an auxiliary system is designed to analyze the effect of the input constraints. We show that under the proposed adaptive FTC scheme, exponential convergence of the output tracking error into a small neighbourhood of zero is guaranteed, while the constraints on the system state will not be violated during operation. Estimation errors for actuator faults are bounded in the closed loop. An illustrative example on a two degree-of-freedom robotic manipulator is presented to demonstrate the effectiveness of the proposed FTC scheme.

Original languageEnglish
Pages (from-to)286-302
Number of pages17
JournalInternational Journal of Robust and Nonlinear Control
Issue number2
StatePublished - Jan 25 2016

Bibliographical note

Publisher Copyright:
Copyright © 2015 John Wiley & Sons, Ltd.


  • Barrier Lyapunov Function
  • fault tolerant control
  • input and state constraints
  • multi-input multi-output (MIMO) nonlinear system

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Chemical Engineering
  • Biomedical Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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