Adaptive tracking control for a class of nonlinear systems with intermittent actuator faults under prescribe output tracking performance

Abstract This paper investigates the adaptive tracking control problem of a class of nonlinear systems with intermittent actuator faults and prescribed performance. In the backstepping design process, a performance function is incorporated to ensure that the tracking error adheres to the prescribed performance criteria. Simultaneously, multi‐dimensional Taylor networks are used to approximate the unknown nonlinear functions in the system. Subsequently, to avoid jumps in the improved Lyapunov function when faults occur, a boundary estimation method is presented, which effectively compensates for the impact of intermittent actuator faults. Ultimately, based on Lyapunov stability theory, it is proven that all signals of the closed‐loop system are bounded, and the tracking error can satisfy the prescribed transient and steady‐state performance. Simulation results demonstrate the effectiveness of the proposed scheme.