Adaptive fault-tolerant control for a class of output-constrained nonlinear systems

Summary In this work, by incorporating a tan-type barrier Lyapunov function into the Lyapunov function design, we present a novel adaptive fault-tolerant control (FTC) scheme for a class of output-constrained multi-input single-output nonlinear systems with actuator failures under the perturbation of both parametric and nonparametric system uncertainties. 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 will not be violated during operation. In the end, two illustrative examples are presented to demonstrate the effectiveness of the proposed FTC scheme.