Adaptive Finite Time Control of Nonlinear Systems Under Time-Varying Actuator Failures

This paper proposes a new finite-time tracking control strategy for a nonlinear uncertain system with actuation failures. The presented control scheme is not dependent on the exact model of system and actuation failures. By employing the approximation ability of fuzzy logic systems, an integrated adaptive controller is constructed, which accommodates for both system uncertainties and unknown actuator failures. Unlike the existing fault-tolerant control studies for actuator failures which can guarantee the system performances only if time tends to infinity, the presented control scheme can assure the system performances in finite time. By applying the Bhat and Bernstein theorem, the finite-time stability of system is proved. At last, the usefulness of the developed control scheme is illustrated by two examples.